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Summary of Contents for ROBOTIQ FT 300
- Page 1 Original Notice © 2018 Robotic Inc. Robotiq FT 300 Force Torque Sensor robotiq.com | leanrobotics.org Instruction Manual...
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Page 3: Table Of Contents
1. General Presentation 1.1. Main features 2. Safety 2.1. Warning 2.2. Intended Use 3. Installation 3.1. Scope of Delivery 3.1.1. Options 3.2. Environmental and Operating Conditions 3.3. Mechanical Connections 3.4. Power Supply Specifications 3.5. Wiring 3.5.1. Wiring with USB to RS485 Converter 3.5.2. - Page 4 4. Software 4.1. Control with Universal Robots 4.1.1. ActiveDrive Toolbar Overview Toolbar collapsed Toolbar expanded ActiveDrive modes expanded Features Error Messages Overview 4.1.2. Using the force and torque values 4.1.3. Path Recording Overview Features* Custom Programs 4.1.4. Using the Force Torque Sensor's Data in Force Nodes 4.2.
- Page 5 5.2. Mechanical Specifications 5.2.1. Moment of Inertia and Center of Mass 5.2.2. Overload Capacity 5.3. Signal Specifications 5.4. Electrical Ratings 5.5. Couplings 5.5.1. Blank Coupling 6. Maintenance 6.1. Maintenance Intervals 7. Spare Parts, Kits and Accessories 8. Troubleshooting 8.1. General troubleshooting 8.1.1.
- Page 6 Revisions Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes in specifications. If such modification is made, the manual will also be revised, see revision information. See the latest version of this manual online at: support.robotiq.com.
- Page 7 Information provided by Robotiq in this document is believed to be accurate and reliable. However, no responsibility is assumed by Robotiq for its use. There may be some differences between the manual and the product if the product has been modified after the edition date.
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Page 9: General Presentation
The terms ''Sensor'', ''Robotiq Sensor'', ''Force Sensor'', ''Torque Sensor'', ''FT 300 Force Torque Sensor'' used in the following manual refer to the Robotiq Force Torque Sensor FT 300 unless specified. The following manual instructions apply to both versions unless explicitly stated otherwise. The Robotiq FT 300 Force Torque Sensor is a robotic peripheral designed for force and torque data acquisition. -
Page 10: Main Features
1.1. Main features The end-of-arm tool contact surface (in green) is the only point of contact allowed between the Sensor and the tool to ensure cor- rect force and torque feedback. The robot contact surface (in blue) is the only contact point allowed between the Sensor and the robot for fastening the sensor to the robot. - Page 11 The figure above represents the various force and torques that the FT 300 Force Torque Sensor can measure. Reference frame is centered on the Sensor as shown above and visual inscriptions are also represented on it. The Z axis passes through the center of the thru hole with positive direction in the tool direction. The X axis traces a symmetric line centered on the connector;...
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Page 12: Safety
2. Safety Warning The operator must have read and understood all the instructions in this manual before handling the Robotiq Force Torque Sensor. Info The term "operator" refers to anyone responsible for any of the following operations on the FT 300 and the associated... -
Page 13: Warning
2.1. Warning Info Any use of the Sensor in noncompliance of these warnings is inappropriate and may cause injury or damage. Warning A Force Torque Sensor used in human-robot collaboration must not be considered a complete safety measure, additional dedicated safety device(s) must be considered. Sensor failure can occur and result in danger for workers or machinery if not properly secured. -
Page 14: Intended Use
The unit may be used only within the range of its technical specifications. Any other use of the product is deemed improper and unintended use. Robotiq will not be liable for any damages resulting from any improper or unintended use. -
Page 15: Installation
3. Installation Warning Be sure to read and understand the safety instructions related to the Robotiq Force Torque Sensor prior to installation. 3.1. Scope of Delivery Standard delivery for an FT Sensor kit: FTS-300-KIT-001 Robotiq Force Torque Sensor FT 300 unit... -
Page 16: Environmental And Operating Conditions
3.2. Environmental and Operating Conditions The FT 300 Force Torque Sensor is designed for industrial applications. Always respect the following specified storage, transport and operating environmental conditions: CONDITION VALUE Minimum storage/transit -25°C temperature Maximum storage/transit 70°C temperature Minimum operating temperature 15°C Maximum operating temperature 35°C Humidity (non-condensing) 20-80% RH... -
Page 17: Mechanical Connections
ISO 9409-1 and this covers most bolt patterns. If there is no coupling for your robot, you can modify a blank coupling or Robotiq can create a custom version for you. Some couplings may require an additional adapter plate. To create your own coupling or adapter plate you can refer to the Technical Dimensions section. -
Page 18: Power Supply Specifications
Maximum output voltage tolerance is 10%, exceeding this limit, 26.4 V DC could damage the Sensor. Info Robotiq recommends the use of the following power supply: TDK-Lambda DPP Series, 15W Single Output DIN Rail Mount Power Supply, DPP15-24 FT 300 Force Torque Sensor - Instruction Manual... -
Page 19: Wiring
3.5. Wiring Power and communications are established with the FT 300 Force Torque Sensor via a single device cable. The FT 300 has a pigtail cable. The figure below represents the FT 300 Force Torque Sensor receptacle (Sensor side) and connector (cable side) with associated pinout. -
Page 20: Wiring With Usb To Rs485 Converter
3.5.1. Wiring with USB to RS485 Converter When using a RS485 to USB converter (refer to the Spare Parts, Kits and Accessories section), the wiring must respect the figure below and subsequent directions. GND / 0V is wired to Sensor pin #1 as stated in the Wiring section. The converter will provide you with a standard USB 2.0 male A connector. -
Page 21: Wiring With Rs232 To Rs485 Converter
3.5.2. Wiring with RS232 to RS485 Converter When using a RS232 to RS485 converter (refer to the Spare Parts, Kits and Accessories section), the wiring must respect the figure below. Warning Do not wire converter pin #3 (5V) on the RS485. The 24V power supply is NOT supplied via the converter. -
Page 22: Calibration Procedure
The Sensor outputs the force and moment data according to a reference, i.e. a zero value. In order to compensate for any deviation of this reference, Robotiq provides a new feature which allows the Sensor to automatically compute and compensate the installation offset, the weight of the tool and its center of mass. -
Page 23: Calibration Procedure With Universal Robots
3.6.1. Calibration Procedure with Universal Robots Info You need the Universal Robots software package installed first. Please refer to the Installation for Universal Robots section for the package download and installation. From the PolyScope home page, tap Program Robot. Go to the Installation tab and tap FT Sensor in the left pane. The FT Sensor's Dashboard will be displayed. Tap the Cal- ibration tab. - Page 24 Tap the Start calibration wizard button to perform the calibration of the FT Sensor. Make sure there are no external forces applied to the Sensor while performing the calibration. Step 1 consists in moving the robot arm so that the FT Sensor's X axis points downward. Tap Continue when the action is done.
- Page 25 Step 2 consists in moving the robot arm so that the FT Sensor's Y axis points downward. Tap Continue when the action is done Step 3 consists in moving the robot arm so that the FT Sensor's Z axis points downward. Tap Continue when the action is done Info Recalibration is recommended in the event of an error message displaying the incorrect orientation of the FT Sensor...
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Page 26: Payload/Cog
Payload/CoG The payload and center of gravity values can be accessed through the Calibration menu in the Installation tab, after the calibration is completed. They include the mass and center of gravity of the Sensor. Caution The mass, payload or center of gravity of anything found under the Sensor (i.e. tool changer) will not be taken into account in the calculation of the payload. -
Page 27: Calibration Procedure For The Visual Demo Software (Pc)
3.6.2. Calibration Procedure for the Visual Demo Software (PC) Info You need the Visual Demo Software installed first. Please refer to the Visual Demo Software section for download and installation. To calibrate your FT Sensor: Go to the "Tool Calibration" tab and follow the instructions. Once completed, go to the "Sensor Data"... -
Page 28: Status Led
A single status LED provides information on both Sensors, detailed information can be found in the tables below, while a representation of both Sensor status LEDs is shown in the figure below. On the FT 300 Sensor, the cable sleeve is the LED conductor: COLOR... -
Page 29: Installation For Universal Robots
3.8. Installation for Universal Robots The table below shows which Robotiq software to use with your version of Universal Robots’ controller. If you are using a CB3 or CB3.1 controller, it is recommended to use the Force Torque Sensor URCaps Package. -
Page 30: Urcap Package
Make sure that your PolyScope version is up-to-date and that your Universal Robots controller is compatible with the Force Torque Sensor URCap package. Refer to the Control with Universal Robots section for the UR controller compatibility. Go to support.robotiq.com and click on the product page of the FT 300 Sensor. - Page 31 Tap the plus button (+) to add the Sensor’s URCaps package. Open Robotiq_Force_Torque_Sensor-X.X.X.urcap. Restart PolyScope to complete the URCap installation.By doing so, you accept the License Agreement that is detailed inthe URCap Inform- ation text box (see below for the License Agreement). When PolyScope reopens, the ActiveDrive toolbar will appear on the screen.
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Page 32: Firmware Upgrade
Firmware upgrade A firmware upgrade my be necessary when updating the Sensor URCap. From the PolyScope home page, go to Program Robot and tap the Installation tab. Select FT Sensor in the left pane and tap the Dashboard button. If an upgrade is needed, the Upgrade firmware button will display. -
Page 33: Uninstalling The Urcaps Package
Uninstalling the URCaps Package If you wish to uninstall the Force Torque Sensor URCap, follow this procedure: Go to Setup Robot. Tap URCaps Setup. In the Active URCaps text box, tap the Force Torque Sensor URCap. The Sensor URCap should be highlighted. Tap the minus button (-) to uninstall the URCap. -
Page 34: License Agreement
Such modifications and upgrades of the Software shall be installed by the End-User itself by consulting the Licensor’s Web- site http://robotiq.com/ where a link to proceed to such installation will be made available thereof. A new version of the Soft-... - Page 35 ware shall not be covered by this Section 4 but shall require that a new End-User Software License Agreement be entered into between the Licensor and the End-User. 5. Fees. The grant by Licensor to the End-User of the present license shall be free to the extent that the End-User agrees and complies to the term and conditions herein at all time.
- Page 36 event comes first. Upon termination of this Agreement for any reason, the End-User shall promptly uninstall the Software on any UR’s Products and Licensor’s Products, computer, or server on which it has been installed, deliver to the Licensor all CDs, DVDs, magnetic tapes, cards, and other tangible items and materials embodying the Software, and return to the Licensor all copies thereof or destroy such copies and warrant in writing that all copies thereof have been destroyed.
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Page 37: Ur Package Without Urcaps
If you have installed the URCap, you do not need to install the driver package. This section applies to Robotiq’s software installation when not using the URCap. If you wish to install the URCap package, refer to the URCap Package section. -
Page 38: Testing The Software Package
Testing the software package In PolyScope, load the program test_sensor.urp located in the Sensor folder and execute it. The program will display pop-ups with the following information: Sensor firmware version, production year and serial number. The force and torque readings for Fx, Fy, Fz, Mx, My and Mz are displayed in the Variables tab. -
Page 39: Activedrive Toolbar Installation
If you have installed the URCap, you do not need to install the ActiveDrive Toolbar. This section applies to Robotiq’s software installation when not using the URCap. If you wish to install the URCap package, refer to the URCap Package section. -
Page 40: Software
4. Software The following sub-sections provide instructions for installation of the software package on various platforms. This allows you to get data from the FT 300 Force Torque Sensor. Section 4.1 and subsections refers to the control and programmation for Universal Robots. Section 4.2 and subsections detail the installation of an open source development package, which can be adapted according to the users' needs. -
Page 41: Control With Universal Robots
4.1. Control with Universal Robots The URCap Package contains many features to program and control the robot’s arm using the Sensor’s force and torque readings. The package provides: ActiveDrive toolbar; Path recording node; Driver package. FT 300 Force Torque Sensor - Instruction Manual... -
Page 42: Activedrive Toolbar
4.1.1. ActiveDrive Toolbar The ActiveDrive Toolbar is automatically installed with the Force Torque Sensor URCap Package. It enhances the guiding mode on Universal Robots by allowing the robot to be hand guided smoothly and easily towards a waypoint. The ActiveDrive feature is a great way to assist the Path recording described in the Path Recording section, by hand guiding the robot while recording a path. -
Page 43: Features
Features Primary icon Functionality Description name ActiveDrive Tap to toggle between the expanded and collapsed ActiveDrive Toolbar. When grey, the functionality is not available. Tap the button to see why it is not available. Start / Stop Tap to start or stop ActiveDrive. ActiveDrive will automatically turn off after 30s of inactivity. - Page 44 Primary icon Functionality Description name Speed Motion speed control is toggled between fast and slow, allowing precise movement in slow motion. The Force Torque Sensor will switch to slow speed automatically whenever high forces are detected, for example, during an impact with an object. Square robot Aligns the tool center point (TCP) orientation with the robot base.
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Page 45: Error Messages Overview
Error Messages Overview The ActiveDrive Toolbar will be automatically collapsed and be grayed whenever one of the following situations occurs. In such cases, by tapping the ActiveDrive button, the following messages will appear: Message: Solution: Starting ActiveDrive while an excessive force is applied to the tool: Determine if an external force is applied to the end-effector. - Page 46 Message: Solution: A program is already running: The ActiveDrive Toolbar cannot be used while a program is running. Stop the program to enable the ActiveDrive feature. Message: Solution: The speed setting of the robot is lower than 50%: The robot’s speed setting should be greater than 50%. Modify the speed setting in the robot program using the slider.
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Page 47: Using The Force And Torque Values
4.1.2. Using the force and torque values Force Torque Sensor functions are made available in the Universal Robots functions drop-down menu. The rq_zero_sensor function can be called at any point in a robot program to zero the force and torque values of the Force Torque Sensor. - Page 48 Info Although displayed in real time in the Variables tab, the force and torque values can be seen in the FT Sensor Dashboard. After the calibration has been completed, go to the FT 300 Dashboard to monitor the force and torque values in real time. Prior to using the FT Sensor's data in the framework of a robot program, it is recommended to zero the sensor using the Zero sensor button.
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Page 49: Path Recording
4.1.3. Path Recording The Force Torque Sensor URCap Package adds a Path feature in PolyScope which can be used to record paths directly by moving the robot. The ActiveDrive Toolbar is a great tool to use while recording a path, as it is an easy way to hand guide the robot’s end- effector. - Page 50 Go to the Command tab to record and edit a path. The BeforeStart node is used to execute preliminary operations before the parent program node. In some instances, the parent node requires a processing time before starting. To prevent delays, operations found under the BeforeStart node will be executed as soon as the parent node is ready to start.
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Page 51: Overview
Overview Path time and speed information. Warning message is displayed whenever a setting results in a duration different than the original path duration. Path recording and visualization. Path speed slider. Path options. Warning section. Displayed whenever a setting results in a duration different than the original path duration. - Page 52 When a Path node is empty (no path recorded), the only available button is the record button. While recording a path, the only available button is the stop button. When the speed of the original recording is modified using the speed slider, a warning message appears and the path time and speed information is updated.
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Page 53: Features
Features* Primary icon Functionality name Description Start/Stop recording Starts and stops the path recording. Navigate to path’s start Press and hold in order to move the robot at the path’s start. Navigate to path’s end Press and hold in order to move the robot at the path’s end. Play path Press and hold in order to move the robot to the path’s start and play the path as it will be executed in the program. - Page 54 Primary icon Functionality name Description Decrease/Increase path Motion speed control is toggled between fast and slow, allowing precise speed movement in slow motion. The Force Torque Sensor will switch to slow speed automatically whenever high forces are detected, for example, during an impact with an object. Path speed warning “Warning! Selected options change the speed of the original path recording.”...
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Page 55: Custom Programs
Custom Programs You can create your own program using the Force Torque Sensor signals by following this procedure : In the list of provided samples, open template_sensor.urp. Push Play and check the Variables tab. You will see Sensor variables Fx, Fy, Fz, Mx, My, Mz. You can verify the readings by applying force to the Sensor and observe the response. -
Page 56: Using The Force Torque Sensor's Data In Force Nodes
4.1.4. Using the Force Torque Sensor's Data in Force Nodes In order to use the FT Sensor's data in Force control mode for all Force nodes, go to the Configuration tab and check the corresponding box. This will feed the Sensor's force values to the UR Force mode as an alternative to UR's embedded force feedback. -
Page 57: Development Package
(commercial or not). If it is included in a software, this software does not need to be open-source. However, the code is provided "as is" without any liability from Robotiq and some restrictions apply regarding the distribution of the code and the use of the Robotiq name. - Page 58 STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. FT 300 Force Torque Sensor - Instruction Manual...
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Page 59: Linux
Caution When started, the provided software will scan all ports in the system (ttySx and ttyUSBx) to find a compatible Robotiq device. It uses the Linux utility "fuser" to determine if the port is already opened. This section of code can be modified by the user if necessary to avoid the scanning of ports (for example, if another device would become confused when receiving a message that it cannot understand). -
Page 60: Adapt To A User Application
At this point, the main.c file should be adapted according to the guideline comments inserted in the code. Caution Please note that Robotiq can only support our customers in making sure they can compile and test the provided code as No support can be provided for the integration of the provided source code into a custom application. -
Page 61: Windows
4.2.3. Windows Package Files – Description The development package is structured with the following files and directories architecture (non-Windows files and directories are ignored in this section): src: contains the source files common to all platforms obj: used during compilation for the object files related to the common sources Windows: contains Windows specific files bin: contains the binary files src: contains the source files common to all platforms... -
Page 62: Adapt To A User Application
At this point, the main.c file should be adapted according to the suggested comments inserted in the code. Caution Please note that Robotiq can only support our customers in making sure they can compile and test the provided code as No support can be provided for the integration of the provided source code into a custom application. -
Page 63: Visual Demo Software
Visual Demo Software (PC) section for the calibration procedure. 4.3.1. Software Package Installation Make sure that you have the latest version of the Visual Demo Software, which can be found at support.robotiq.com. Copy all the files of this folder onto a PC. - Page 64 You should see a COM port in green with a serial number, showing the Sensor connected to the PC. Click on it. By going into the Sensor Data tab, you can now see in real time the force and moment applied on the FT Sensor. FT 300 Force Torque Sensor - Instruction Manual...
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Page 65: Serial Communication
4.4. Serial Communication The FT Sensor uses two communication modes, Modbus RTU and data stream. The Modbus RTU communication mode is used to obtain information on the Sensor, like its firmware version. The data stream mode is used to obtain data from the Sensor. Info It is recommended to use the FT Sensor data stream to obtain faster data acquisition. - Page 66 In Modbus RTU you can obtain the following information: Information Register Production year- Serial number 510 to 513 Force X (N) = value / 100 Force Y (N) = value / 100 Force Z (N) = value / 100 Moment X (Nm) = value / 1000 Moment Y(Nm) = value / 1000 Moment Z (Nm) = value / 1000 Acceleration X (g) = value / 1000...
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Page 67: Data Stream
4.4.2. Data Stream Data stream mode is the recommended method of obtaining data from the Sensor. Once initiated, the Sensor will stream force and moment data continuously until communication is interrupted by the user. To start the data stream, write 0x0200 in register 410. For a setup over Universal Robots, Data stream will be accessible on TCP port 63351 of your machine. -
Page 68: Specifications
5. Specifications The following sections provide data on the various specifications of the Robotiq Force Torque Sensor. Section 5.1 details the technical dimensions of the sensor. Section 5.2 details the mechanical specifications. Section 5.3 covers signal specifications (data acquisition). Section 5.4 specifies electrical rating. -
Page 69: Tool Side Bolt Pattern
5.1.1. Tool Side Bolt Pattern The figure below illustrates the bolt pattern used for tool fixation on the FT 300 Sensor. Bolt pattern diameter is 50 mm Mounting holes are M6 thread, 6 mm deep. Indexing hole for M6 dowel pin has a tight fit (H7) and 6 mm deep. -
Page 70: Mechanical Specifications
5.2. Mechanical Specifications Info Reminder: all units are within the metric measurement system. SPECIFICATION VALUE Approximate weight 300 g A combined load exceeding 500% of the measuring range will Overload capacity permanently damage the Force Torque Sensor (Fx/300 + Fy/300 + Fz/300 + Mx/30 + My/30 + Mz/30 < 500%) Outside diameter 75 mm Through-hole diameter... -
Page 71: Moment Of Inertia And Center Of Mass
Wrist Camera and 2-Finger 140 1340 Here is the approximate moment of inertia matrix for the FT Sensor, taken at the coordinate system origin: Fig. 5.14: Moment of inertia of the FT 300 Sensor. FT 300 Force Torque Sensor - Instruction Manual... -
Page 72: Overload Capacity
5.2.2. Overload Capacity The FT 300 sensors have overload capacities, the overload capacity specification includes load and torque values in all 3 axes. Info For loads between the measuring range and the overload capacity, the signal will be saturated. The sensor will not undergo permanent damage if the overload capacity is not reached. -
Page 73: Signal Specifications
5.3. Signal Specifications FT 300 SPECIFICATION FT 300 (prior to 10/2017) Force ±300 N Measuring range Torque ± 30 Nm Fx, Fy 1.2 N 0.1 N 0.5 N 0.1 N Signal noise* Mx, My 0.02 Nm 0.005 Nm 0.03 Nm 0.003 Nm Fx, Fy Recommended threshold Mx, My... - Page 74 The recommended threshold represents the smallest variations that can be detected by the sensor. The signal noise is the limiting factor for the Sensor's precision. is greater than the Sensor's resolution, thus it For the FT 300, the signal noise defined in the signal specifications is the standard deviation of each data (Fx, Fy, Fz, Mx, My, Mz) over 1 second. In order to use that signal noise information, three times the standard deviation given must be used.
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Page 75: Electrical Ratings
5.4. Electrical Ratings SPECIFICATION VALUE Input voltage 5 to 24 V DC ± 10% Max power consumption Communication electrical interface RS-485 Recommended fuse Phoenix #0916604 (UT6-TMC M 1 A) Recommended power supply TDK-Lambda DPP Series 15W Single Output DIN Rail Mount Power Supply, DPP15-24 FT 300 Force Torque Sensor - Instruction Manual... -
Page 76: Couplings
The following subsections contain data required for custom couplings or creating couplings from blanks. Info All Robotiq couplings and adapter plates are provided with necessary hardware for fixation on the Robotiq device side. Caution Unless identified for specific packages only, robot side screws and indexing pins are not provided. -
Page 77: Blank Coupling
The figure below schematics represent the optional blank coupling for the FT 300 Sensor : (7) M4 threads and the 63 mm (H8) circle are meant to affix the FT 300. The circular section of 75 mm diameter (blue section in the figure below) represents the customization area and has a depth of 5 Warning Make sure your custom design does not interfere with the M4 threads or the 63 mm, H8 centering circle. -
Page 78: Maintenance
Validity of your warranty. Proper lifetime for your Sensor. Please visit support.robotiq.com for details on the maintenance operation. Warning Unless otherwise specified, any repairs done on the FT 300 Force Torque Sensor will be done by Robotiq. 6.1. Maintenance Intervals Operation Daily Weekly Semiannually... -
Page 79: Spare Parts, Kits And Accessories
Unless specified, screws, dowel pins and other hardware are included only for the Sensor side, never for the robot side. Item Description Ordering Number Robotiq Force Torque Sensor FT, includes cable and USB Standard Kit FTS-300-KIT-001 converter. Standard Sensor with Couplings for Universal Robots and... -
Page 80: Troubleshooting
Verify that the Sensor is connected according to the Installation section of this manual. When powered, verify that the LED on the Sensor is blue (not red/blue).FT 300 LED is red if powered without communication, blue if powered with communication. For detailed information on the LED status, refer to the Status LED section. -
Page 81: Troubleshooting On Universal Robots
8.2. Troubleshooting on Universal Robots 8.2.1. ActiveDrive Toolbar troubleshooting – Error messages overview The ActiveDrive Toolbar will be automatically collapsed and be greyed whenever one of the following situations occurs. In such cases, by tapping the ActiveDrive button, the following messages will appear: Message: Solution: Starting ActiveDrive while an excessive force is applied to the tool:... - Page 82 Message: Solution: A program is already running: The ActiveDrive Toolbar cannot be used while a program is running. Stop the program to enable the ActiveDrive feature. Message: Solution: The speed setting of the robot is lower than 50%: The robot’s speed setting should be greater than 50%. Modify the speed setting in the robot’s program with the slider.
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Page 83: Troubleshooting On Other Platforms
8.3. Troubleshooting on other platforms 8.3.1. USB converter detected as a mouse by Windows In Windows, the USB converter is sometimes detected as a mouse, making the cursor move. This a well know problem in Win- dows: http://support.microsoft.com/kb/819036 A simple workaround is to plug in the USB converter before powering the Sensor. Once the USB driver is initialized in Windows, the Sensor can be powered and used without a problem. -
Page 84: Monitoring The Sensor State
8.3.4. Monitoring the Sensor state In order to view the Sensor status and verify the force and torque values: Go to Program Robot Go to the Installation tab Tap FT Sensor in the left pane Tap the Dashboard button Info If needed, the user can tap the About button to get further information regarding the FT Sensor. FT 300 Force Torque Sensor - Instruction Manual... -
Page 85: Warranty
9. Warranty Robotiq warrants the FT 300 Force Torque Sensor against defects in material and workmanship for a period of one year from the date of reception when utilized as intended with the specified maintenance. Robotiq also warrants that this equipment will meet applicable specifications under normal use. -
Page 86: Exclusions
9.1. Exclusions Robotiq reserves the right to make changes in the design or construction of any of its products at any time without incurring an obligation to make any changes whatsoever on units already purchased. This warranty excludes failure resulting from: improper use or installation, normal wear and tear, accident, abuse, neglect, fire, water, lightning or other acts of nature, causes external to the product or other factors beyond Robotiq's control. -
Page 87: Contact
10. Contact www.robotiq.com Contact Us Phone 1-888-ROBOTIQ (762-6847) (+1) 418-380-2788 Outside US and Canada 1-418-800-0046 Technical Support Option 3 Sales Option 2 Head Office Robotiq 966, chemin Olivier Suite 500 Lévis, Québec G7A 2N1 Canada Where automation Pros come to share their know-how and get answers. -
Page 89: Appendix A - Translation Of Original Ec Declaration Of Incorporation
Appendices Appendix A – Translation of Original EC Declaration of Incorporation FT 300 Force Torque Sensor - Instruction Manual... -
Page 90: Appendix B - Applied Standards
Appendix B – Applied Standards This section describes all applied harmonized standards for the design and production of the Robotiq Force Torque Sensor FT 300. Standards are applied were applicable, some points may not be applied if not applicable to this specific product. Conformity is not enforced by any laws, it is self-applied and the aim is to define normal safety and performance requirements for similar products.
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