ROBOTIQ FT 300-S Manual 

Original Notice © 2021 Robotiq Inc. Robotiq FT 300-S Force Torque Sensor for OMRON TM Series Robots

Revisions 4 1. General Presentation 6 1.1. FT 300-SForce Torque Sensor 6 2. Safety 9 2.1. Warning 10 2.2. Intended Use 11 3. Installation 12 3.1. Scope of Delivery 12 3.2. Environmentaland Operating Conditions 13 3.3. MechanicalInstallation 14 3.4. PowerSupplySpecifications 16 3.5. Wiring 17 3.6. CalibrationProcedure forVisualDemo Software (PC) 20 4. Software 21 4.1. Use inTMFlowSoftware 21 4.2. Development Package 25 4.3. VisualDemo Software 29 4.4. SerialCommunication 30 5. Specifications 36 5.1. TechnicalDimensions 36 5.2. MechanicalSpecifications 38 5.3. SignalSpecifications 41 5.4. ElectricalRatings 42 5.5. Couplings 42 6. Maintenance 44 6.1. Maintenance Intervals 44 6.2. Cable replacement procedure 45 7. Spare Parts, Kitsand Accessories 46 8. Troubleshooting 47 FT 300-SForce Torque Sensor - Instruction Manual 2

3 8.1. Generaltroubleshooting 47 8.2. Troubleshooting onotherplatforms 48 9. Harmonized Standards, Declarationsand Certificates 49 9.1. OriginalEU Declarationof Conformity 49 9.2. Applied standards 50 9.3. IngressProtectionCertification 51 10. Warranty 53 10.1. Exclusions 53 11. Contact 55

4 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. 2021-03-01 l Update of the FT 300 Torque Sensor which is now the FT 300-STorque Sensorwith a new design. Various sections of this instruc- tion manual have been updated relatively to this mechanical change. For all information about the FT 300 Torque Sensor, please consult the Archives section at support.robotiq.com. Revision2020/04/06 Section 3 updated. Revision2019/06/21 Section 3, 4 and 8 updated. Revision2019/04/30 Initial release

5 Copyright © 2021 Robotiq Inc. All rights reserved. This manual and the product it describes are protected by the Copyright Act of Canada, by laws of other countries, and by international treaties, and therefore may not be reproduced in whole or in part, whether for sale or not, without prior written consent from Robotiq. Under copyright law, copying includes translation into another language or format. 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. The information contained in this document is subject to change without notice.

The terms ''Sensor'', ''Robotiq Sensor'', ''Force Sensor'', ''Torque Sensor'', ''FT 300-SForce Torque Sensor'' used in the following manual refer to the Robotiq FT 300-SForce Torque Sensor unless specified. The Robotiq FT 300-SForce Torque Sensor is a robotic peripheral designed for force and torque data acquisition. Info The following manual uses the metric system. Unless specified, all dimensionsare inmillimeters. 1.1. FT300-SForce Torque Sensor Info The following section presents key features of the Sensor, and must not be considered as being related to Sensor operation. Every feature is detailed in the applicable section of the manual. Safety guidelines must be read and understood before any operation is attempted with the Sensor. The Force Torque Sensor is a robotic peripheral designed for force and torque data acquisition on robots. It is installed on the robot tool flange with a mechanical coupling. A sensor cable (not shown)is used for power and communications. Fig. 1.1: FT 300-SForce Torque Sensor Nomenclature FT 300-SForce Torque Sensor - Instruction Manual 6

7 1.1.1.Main features Fig. 1.2: Overview of the Robotiq Force Torque Sensors, with main features. l The end-of-arm tool contact surface (in green)is the only point of contact allowed between the Sensor and the tool to ensure correct force and torque feedback. l 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. Note that the inside ring must not touch the robot. l Tool Plate is not shown, but might be required when certain end-of-arm tools are mounted on the FT 300 Force Torque Sensor. Info Details on the bolt pattern and indexing pin for the tool side and the robot side can be found in the Specifications section. l M12 connector allows for both power and data transfer for the Sensor. l Status LED provides visual information on the status of the Sensor, see Installationsection.

8 Fig. 1.3: FT 300-SForce Torque Sensor force and torque diagrams. The figure above represents the various force and torques that the FT 300-SForce Torque Sensor can measure. Reference frame is centered on the Sensor as shown above and visual inscriptions are also represented on it. l The Zaxis passes through the center of the depression with positive direction in the tool direction. l The X axis traces a symmetric line centered on the connector; the positive direction points the opposite way away from the con- nector. l The Y axis uses the right hand thumb rule according to X-Z. Tip It is important to understand that the FT 300-SForce Torque Sensor can be used either as a Modbus RTU slave or as a streaming device. When use as a slave unit you will send status requests (read function)to get the force & moment values, while when in data stream mode the Sensor will continuously stream data without responding to a master request. Please refer to the Serial Communicationsection for details.

Torque Sensor. Info The term " operator" refers to anyone responsible for: Any of the following operations with the FT 300 and the associated robot or tools: l Installation l Control l Maintenance l Inspection l Decommissioning This documentation explains the various components of the Force Torque Sensor, as well as general operations regarding the whole life-cycle of the product from installation to operation and decommissioning. The drawings and photos in this documentation are representative examples and differences may exist between them and the delivered product. FT 300-SForce Torque Sensor - Instruction Manual 9

10 2.1. Warning Info Any use of the Force Torque 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. See local or international safety measure for human-robot collaboration. Warning l The Sensor needs to be properly secured before operating the robot. l Do not install or operate a Sensor that is damaged or lacking parts. l Never supply the Sensor with an alternative current source. l Make sure all cord sets are always secured at both ends, at the Sensor and at the robot. l Always meet the recommended keying for electrical connections. l Make sure no one is in the robot and/or Sensor path before initializing the robot's routine. l Always meet the Sensor payload specifications. l All local safety measures and/or laws on robot operation must be applied to the Sensor. l Any use of the Sensor in noncompliance with these warnings is inappropriate and may cause injury or damage.

11 2.2. Intended Use The Sensor is designed for data acquisition (force and torque sensing)for an end-of-arm tool on a robot. The Sensor is intended for installation on a robot or other automated machinery or equipment. The software is used for the implementation of a force torque sensor's operational commands in a user interface. Info Always comply with local and/or national laws, regulations and directives on automation safety and general machine safety. 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.

3.1. Scope of Delivery Standard delivery for an FT Sensor kit: FTS-300-S-OMRON-KIT FT-300-SBasic Sensor Unit (FTS-300-S-SEN-001) 1 x Mechanical coupling (FTS-300-S-CPL-014) 1 x 10m High-Flex Cable (straight connector)(CBL-COM-2073-10-HF) 1 x USB to RS485 Adapter (ACC-ADT-USB-RS485) 1X RS232 to RS485 adapter (ACC-ADT-RS232-RS485) 1 x USB Stick (ACC-USB-16G) FT 300-SForce Torque Sensor - Instruction Manual 12

13 3.2. Environmental and Operating Conditions The FT 300-SForce Torque Sensor is designed for industrial applications. Always respect the following specified storage, transport and operating environmental conditions: CONDITION VALUE Minimum storage/transit temperature -30°C Maximum storage/transit temperature 70°C Minimum operating temperature1 5°C Maximum operating temperature1 40°C Humidity (non-condensing) 20-80% RH Maximum vibration (storage / transit) 5G Maximum vibration (operating) 2G IP rating IP 652,3 Other l Free from corrosive liquids or gases l Free from explosive liquids or gases l Free from powerful electromagnetic interference 1Refer to the Signal Specifications section for details on temperature compensation range. 2Dust-tight and protected against water jets . 3 IP Certification performed on the FT 300-S-UR-KIT, FT 300-S-OMRON-KIT, and FT 300-S-TM-KIT configurations only.

14 3.3. Mechanical Installation You must use a coupling to attach the Sensor to a robot. Be sure to use the coupling related to your robot model. Here are the steps to follow for the installation of the Sensor (see figures below). 1. Place the provided dowel pin in the robot tool flange hole that is near the camera. 2. Mount the mechanical coupling on your robot arm. Align marked hole 2 with the dowel pin. 3. Secure by inserting the M6 screws and tooth lock washers 4. Mount the Force Torque Sensor on the mechanical coupling. 5. Secure by inserting the M4 screws and the Belleville washers (with the convex side upward)in a cross pattern to properly com- press the O-ring.

15 Fig. 3.1: Attaching the FT 300-Ssensor to a robot arm using the mandatory coupling.

16 3.4. Power Supply Specifications The Sensor needs to be supplied by a DC voltage source. This power supply is not included with the Sensor. POWERSUPPLY SPECIFICATIONS VALUE Output voltage 5 to 24 V DC Max power consumption 2 W Overcurrent 1 A Fuse (Phoenix #0916604 (UT6-TMC M 1A)) Overvoltage protection Warning 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

17 3.5. Wiring Power and communications are established with the FT 300-SForce Torque Sensor via a single device cable. The FT 300 has a pigtail cable. The figure below represents the FT 300-SForce Torque Sensor receptacle (Sensor side)and connector (cable side)with associated pinout. The M12 - 5 pin A-coded connector is used in accordance with IEC 61076-2-101. Warning Use propercabling management. Be sure to have enough forgiveness in the cabling to allow movement of the Gripper along all axes without pulling out the connectors. Always protect the controller side of the cable connection with a strain relief cable clamp. Fig. 3.2: Pinout of the Robotiq FT 300-SForce Torque Sensor and color code per cable type. Info Power pins 2 & 3 are connected to the specified power supply. Info RS-485 signal pins 1, 4 & 5 are connected directly, to a RS-485 / USB converter or to a RS-485 / RS-232 converter.

18 Fig. 3.3: FT300-SCable to Terminal Connector on the Controller 3.5.1.Wiring with USBto RS485 Converter When using a RS485 to USB converter (refer to the Spare Parts, Kitsand Accessoriessection), 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. Fig. 3.4: Wiring diagram for the RS485 to USB converter Warning Power is not delivered via the USB, do not plug 24V into the USB. 3.5.2.Wiring with RS232 to RS485 Converter When using a RS232 to RS485 converter (refer to the Spare Parts, Kitsand Accessoriessection), the wiring must respect the figure below.

19 Warning Do not wire converter pin #3 (5V)on the RS485. The 24V power supply is NOT supplied via the converter. The converted side will provide you with a standard DB - 9 female connector with signaling as shown in the figure below. Fig. 3.5: Wiring diagram for RS232 to RS485 converter.

20 3.6. Calibration Procedure for 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 300-SSensor: 1 Go to the " Tool Calibration" tab and follow the instructions. 2 Once completed, go to the " Sensor Data" tab.

input from a Force Torque Sensor. l Section 4.1 explains the use of he FT300-SForce Torque Sensor with TMFlow Software l Section 4.2 and subsections detail the installation of an open source development package, which can be adapted according to the users' needs. It currently functions with Windows and Linux. l Section 4.3 explains the Demo Software l Section 4.4 will detail the use of serial communication in generic applications 4.1. Use in TMFlow Software TMFlow offers a few features which can use the FT300 Force Torque Sensor. These features are: l Touch Stop l Force Control l Smart Insert How to use these various features is explained in the TMFlow user manual. 4.1.1.Adding a FT300 device in a node In order to use the FT300 in these nodes, you simply need to add the device and select it. This can be done by: 1 Clicking on Choose Device FT 300-SForce Torque Sensor - Instruction Manual 21

23 2 If no device already exist, press the + sign on the top right 3 Enter a name for the device and select the model from the list 4 Select the appropriate COM port

24 5 For the FT300 sensor, a rotation of 180° must be done around the Zaxis so that the orientation matches the one of the robot.

25 4.2. Development Package The Robotiq Force Torque Sensor development package can be downloaded at support.robotiq.com. 4.2.1.Distribution License The development package is distributed under the New BSD license, which is a permissive free software license. In short, the provided code can be used in any project without any restriction regarding its use (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. The terms of the license (included in each source file)are described here: Software License Agreement (BSD License) Copyright (c) 2014, Robotiq, Inc. All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following con- ditions are met: - Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. - Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. - Neither the name of Robotiq, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,

26 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. 4.2.2.Linux Package Files– Description The development package is structured with the following files and directories architecture (non-Linux files and directories are ignored in this section): l src: contains the source files common to all platforms l obj: used during compilation for the object files related to the common sources l Linux: contains Linux specific files l bin: contains the binary files l src: contains the source files common to all platforms l main.c : application source file which can be modified by the user l obj: contains all the object files after they are compiled l Makefile: file containing the rules to compile the sensor driver using Make 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). Procedure to Compile and Test the Provided Source Code This procedure explains how to compile the source code and verify that the sensor data is properly read. 1. Unzip the package in the home folder, for example in the folder ~/driver/ 2. Open a terminal and enter the package directory using the following command: rd@debian:~/$ cd driver 3. Use Make to compile the application: rd@debian:~/$ make linux

27 4. In order to have access to the virtual serial COM port, add the used username to the group dialout: rd@debian:~/$ sudo usermod -a -G dialout username 5. It is required to log out (or reboot)the session in order for the group change to become effective. 6. Make sure that the sensor is properly powered and that the data signals are connected to the development PC using the provided RS485 to USB converter. A new device named ttyUSBx should be present in /dev, which can be verified with the fol- lowing command: rd@debian:~/$ ls -l /dev | grep ttyUSB 7. In a terminal, go to the ~/driver/Linux/bin folder and execute the demo application using the following command: rd@debian:~/driver/Linux/bin/$ ./driverSensor 8. After 1-2 seconds, the sensor data should start showing up in the terminal as a vector of 6 floats with data in the (Fx, Fy, Fz, Mx, My, Mz)format. Fig. 4.1: Sensor Data Acquisition. Adapt to a User Application In practice, the provided source code will be adapted to either: be incorporated with a custom application or to communicate with one. 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 is. No support canbe provided forthe integrationof the provided source code into a custom application.

28 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): l src: contains the source files common to all platforms l obj: used during compilation for the object files related to the common sources l Windows: contains Windows specific files l bin: contains the binary files l src: contains the source files common to all platforms l main.c : application source file which can be modified by the user l obj: contains all object files after they are compiled l Data_logger: contains an application (and its source code)to log data from the sensor l compiler.bat: script which automates the settings for the environment variables and the compilation of the example applic- ation l Makefile: file containing the rules to compile the sensor driver using Make Procedure to Compile and Test the Provided Source Code This procedure explains how to install MinGW, compile the provided source code and verify that the sensor data is properly read. 1. Unzip the package in the desired directory. 2. If it is not already installed, download MinGW at http://www.mingw.org/. Download the installer " mingw-get-setup.exe" . 3. Install MinGW by running " mingw-get-setup.exe" and save the default installation path. 4. Open " MinGW installation manager" . 5. Select " mingw-developer-toolkit" in the " Basic setup" tab and click " Mark for Installation" . 6. Select " mingw32-binutils" in the " All packages" tab and click " Mark for Installation" . 7. In the menu " Installation" , click " Apply changes" . This will install the required packages to compose the software using Make. 8. In the Windows directory, run the compiler.bat file. This will build your application. 9. Run the application " driverSensor" located in the " Windows/bin/" folder. 10. After 1-2 seconds, the sensor data should start showing up in the command window as a vector of 6 floats with data in the (Fx, Fy, Fz, Mx, My, Mz) format. Fig. 4.2: Sensor Data Acquisition Under Windows.

29 Adapt to a User Application In practice, the provided source code will be adapted to either: be incorporated with a custom application or to communicate with one. 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 is. No support canbe provided forthe integrationof the provided source code into a custom application. 4.3. Visual Demo Software The Visual Demo Software is used to demonstrate the ability of the FT Sensor to read force and moment. It is not intended to be used for programming or to save or use data. It can also be used to calibrate the Sensor. Please refer to the Installationsection for the calibration procedure. 4.3.1.Software Package Installation 1 Make sure that you have the latest version of the Visual Demo Software, which can be found at support.robotiq.com. 2 Copy all the files of this folder onto a PC. 3 Connect the USB connector to the converter attached to the PC. Important : The Sensor must NOT be powered at this time. 4 Wait while the driver(s)install. After all the drivers have been installed. 5 Plug the Sensor cable into the Sensor. 6 Connect the Sensor cable to the power supply.

30 7 Launch the demo application. 8 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 SensorData tab, you can now see in real time the force and moment applied on the FT Sensor. 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. Caution Modbus RTU can be used to obtain data, but will result in a slower data acquisition frequency. Info In both modes, force and torque data from the Sensor will be in 16-bits signed integer format.

31 4.4.1.ModbusRTU The FT Sensor can be controlled over USB using an ACC-ADT-USB-RS485 signal converter. This section is intended to provide guidelines for setting up a Modbus scanner that will adequately communicate with the Sensor. For a general introduction to Modbus RTU and for details regarding the CRC algorithm, the reader is invited to read the Modbus over serial line specification and implementation guide available at: : http://www.modbus.org/docs/Modbus_over_serial_line_V1_ 02.pdf. For debugging purposes, the reader is also invited to download one of many free Modbus scanners such as the CAS Modbus Scanner from Chipkin Automation Systems available at: http://www.store.chipkin.com/products/tools/cas-modbus-scanner. Info Modbus RTU is a communication protocol based on Big Endian byte order. Therefore, the 16-bit register addresses are transmitted with the most significant byte first. However, the data port is, in the case of Robotiq products, based on the Little Endian byte order. As such, the data parts of Modbus RTU messages are sent with the less significant byte first. Tip Modbus RTU specification and details can be found at www.modbus.org

32 Connection Setup The following table describes the connection requirements for controlling the Sensor using the Modbus RTU protocol: Propriety Value Baudrate (bps) 19,200 Data bits 8 Stop bit 1 Parity None Supported Functions Read Holding Register (FC03) Preset Multiple Register (FC16) Slave ID 0x0009 (9) In Modbus RTU you can obtain the following information: Information Register Production year- 514 Serial number 510 to 513 Force X (N)= value / 100 180 Force Y (N)= value / 100 181 Force Z(N)= value / 100 182 Moment X (Nm)= value / 1000 183 Moment Y(Nm)= value / 1000 184 Moment Z(Nm)= value / 1000 185 Acceleration X (g)= value / 1000 190

33 Information Register Acceleration Y (g)= value / 1000 191 Acceleration Z(g)= value / 1000 192 Read Holding Register (FC03) Function code 03 (FC03)is used to read the status of the Sensor (robot input). Examples of such data is the display of the current force and torque values. Example of FC03 Read Function: To get Fx, you need to read (03)the register 180 (00B4)in device ID 9 (09). Request is: 09 03 00 B4 00 01 C5 64 Hex format: 0x09 0x03 0x00 0xB4 0x00 0x01 0xC5 0x64 Bits Description 09 SlaveID 03 Function Code 03 (Read Holding Register) 00B4 Address of the first requested register 0001 Number of registers requested (1) C564 Cycle Redundancy Check (CRC) To get all 6 force/torque values at once, you need to read (03)six registers (0006), starting with register 180 (00B4)in device ID 9 (09). Request is: 09 03 00 B4 00 06 04 A6 Hex format: 0x09 0x03 0x00 0xB4 0x00 0x06 0x84 0xA6 Bits Description 09 SlaveID 03 Function Code 03 (Read Holding Register) 00B4 Address of the first requested register

34 Bits Description 0006 Number of registers requested (6) 04A6 Cycle Redundancy Check (CRC) 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. Tip To start the data stream, write 0x0200 in register 410. To stop the data stream, communication must be interrupted by sending a series of 0xff characters to the Sensor. Sending for about 0.5s (50 times)will ensure that the Sensor stops the stream. When the stream is started, 16 bytes messages are sent by the sensor at 100Hz using this format: <0x20><0x4e> ... With dataX being a 16-bits signed integer defined as: Data Value meaning data1 Fx * 100 (N) data2 Fy * 100 (N) data3 Fz * 100 (N) data4 Mx * 1000 (Nm) data5 My * 1000 (Nm) data6 Mz * 1000 (Nm) The CRC is computed using a standard 16-bits modbus CRC (see http://www.ccontrolsys.com/w/How_to_Compute_the_ Modbus_RTU_Message_CRC). Preset Multiple Registers(FC16) Function code 16 (FC16)is used to activate functionalities of the Gripper (robot output). A common example is the initialization of data streaming. Example of setting multiple registers (FC16):

35 To initialize the data stream, 0x0200 must be written with the function 16 (0x10)in register 410 (019A). Request is: 09 10 01 9A 00 01 02 02 00 CD CA Hex format: 0x09 0x10 0x01 0x9A 0x00 0x01 0x02 0x02 0x00 0xCD 0xCA Bits Description 09 SlaveID 10 Function Code 16 (Preset Multiple Registers) 019A Address of the first register 0001 Number of registers requested (1) 02 Number of data bytes to follow (1 registers x 2 bytes/register = 2 bytes) 0200 Value written to register 0x019A CDCA Cycle Redundancy Check (CRC)

l Section 5.1 details the technical dimensions of the sensor. l Section 5.2 details the mechanical specifications. l Section 5.3 covers signal specifications (data acquisition). l Section 5.4 specifies electrical rating. l Section 5.5 covers the technical dimensions of the sensor coupling options. 5.1. Technical Dimensions Fig. 5.1: Robotiq FT 300-SSensor general technical dimensions. Info Reminder: Measures are in millimeters. FT 300-SForce Torque Sensor - Instruction Manual 36

37 5.1.1.Tool Side Bolt Pattern The figure below illustrates the bolt pattern used for tool fixation on the FT 300-SSensor. l Bolt pattern diameter is 50 mm l Mounting holes are M6 thread, 6 mm deep. l Dowel pin holes for M6 dowel pin has a tight fit (H7)and 6 mm deep. Info FT 300-Stool side bolt pattern matches ISO-9409-1-50-4M6. A second dowel pin hole is present to allow sensor axes to reflect those of the robot, depending on the robot brand used. Fig. 5.2: FT 300-SSensor tool side bolt pattern.

38 5.2. Mechanical Specifications Info Reminder: all units are within the metric measurement system. SPECIFICATION VALUE Approximate weight 442 g Overload capacity A combined load exceeding 500% of the measuring range will permanently damage the Force Torque Sensor (Fx/300 + Fy/300 + Fz/300 + Mx/30 + My/30 + Mz/30 < 500%) Outside diameter Ø 89 mm (Robot side) Ø 75 mm (Tool side) Thickness 41.5 mm (Overall) 37.5 mm (from robot flange) Stiffness Fx, Fy 35 X 106 N/m Fz 30 X 106 N/m Mx, My 10,000 Nm/rad Mz 20,000 Nm/rad

39 5.2.1.Moment of Inertia and Center of Mass The coordinate system used for calculating the moment of inertia and center of mass for the FT Sensor is shown in the matrix and the table below: Info All values are approximate. Actual coordinates may vary according to various options present on the Sensor. l Here is the approximate moment of inertia matrix for the FT Sensor, taken at the coordinate system origin: Fig. 5.3: Moment of inertia of the FT 300-SSensor. l Here is the approximate position of the center of mass for the FT Sensor: Sensor x(mm) y(mm) z (mm) Mass(g) FT 300-S -6.00 0 13.5 410* *Cable mass is not completely considered. l Here is the Tool Center Point (TCP)table for the FT 300-SSensor: Sensor x(mm) y(mm) z (mm) FT 300-S 0 0 37.5 Info For TCP and center of mass of the FT 300-Swith Gripper combinations, please consult the specific table provided on our support website.

40 5.2.2.Overload Capacity The FT 300-Ssensors 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. Warning Exceeding the overload capacity will permanently damage the sensor. Sensor Measuring range Overload capacity1 FT 300-S +/- 300 N 1500 N (500%)2 1Overload capacity with all axes combined. 2Maximum load expressed in % of measuring range. The overload capacity given includes forces and torques in all 3 axes. To get an approximation of the total load, these formulas must be used: l For the FT 300-S Fx/300 + Fy/300 + Fz/300 + Mx/30 + My/30 + Mz/30 < 500%

41 5.3. Signal Specifications SPECIFICATION FT 300-S Measuring range Force ±300 N Torque ±30 Nm Signal noise1 Fx, Fy 0.1 N Fz 0.1 N Mx, My 0.005 Nm Mz 0.003 Nm Recommended threshold whenmounted ona robot Fx, Fy 1 N Fz 1 N Mx, My 0.02 Nm Mz 0.01 Nm Data output rate 100 Hz Temperature compensation 15 to 35°C 1Signal noise is the standard deviation of the signal measured over a period of one (1) second. 2 Specifications included in the Signal Specifications section may vary outside of the temperature compensation range. Table 5 - 1: Signal Specifications Warning Sensor data may be slightly affected by strong electromagnetic fields. Caution For more details on minimum/maximum operating temperatures, please refer to the Environmental and Operating Conditionssection. 3Specifications included in the Signal Specificationssection may vary outside of the temperature compensation range.

42 Caution 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.For the FT 300-S, 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. According to the normal distribution, three times the standard deviation will cover almost all values possible (99.7%). Info Noise is an unwanted and unpredictable alteration to a signal. It may come from electrical or electromagnetic sources and degrades the quality of the Sensor's signal. 5.4. Electrical Ratings SPECIFICATION VALUE Input voltage 5 to 24 V DC ± 10% Max power consumption 2 W 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 5.5. Couplings For a detailed list of available couplings and adapter plates, please refer to the Spare Parts, Kitsand Accessoriessection. The figure below represents the coupling for the FT 300-SSensor on the robot: 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 screwsand dowel pinsare not provided.

43 5.5.1.Coupling for ISO 9409-1-50-4-M6 Bolt pattern for coupling FTS-300-S-CPL-014 (please refer to the Spare Parts, Kits and Accessories section)is compatible with: l 50 mm pitch circle diameter: o (4)M6-1.0 button head socket cap screw clearance o (1)M6 dowel pin o ISO 9409-1 standard 50-4-M6 Fig. 5.4: Coupling for ISO 9409-1-50-4-M6

Maintenance of the Sensor is required after specified usage, measured in time (normal 40h week). Respecting the maintenance interval will ensure: l Correct functioning of your Sensor. l Validity of your warranty. l 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-SForce Torque Sensor will be done by Robotiq. 6.1. Maintenance Intervals Operation Daily Weekly Semiannually Zero calibration X1 Sensor cleaning Dirty conditions Normal conditions Periodic inspection X2 1Zero calibration should be integrated into the program routine. This will compensate for the tool weight (for its current orientation), the effect of the attachment mechanisms on the Sensor and any other factors which could affect the readings. It is recommended to add this instruction when the robot is not applying force on its environment and when the tool is in the same orientation as when the readings will be used (for example at the beginning of the program or just before picking up an object or applying force). 2If there is any visible damage to the Sensor, contact [email protected]. FT 300-SForce Torque Sensor - Instruction Manual 44

45 6.2. Cable replacement procedure Caution Make sure the Force Torque Sensor is mounted on the robot when repairing the cable. This allows the o-ring to be well compressed. 1. Unplug M12 connector between 1m pigtail cable and the 10m cable. 2. Unscrew the sensor cable with a T20 screwdriver (not provided). 3. Clean the contact surface with a dry cloth. 4. Spread the paste supplied on the gasket of the new connector and on the contact surface of the sensor. 5. Insert the cable connector into the sensor. Tip You may need to apply light pressure for the connector to seat fully. 6. Secure the connector with the provided screw and tooth lock washer. 7. Wipe off excess paste.

Caution The following list is up to date at print time and is subject to change, check online for updates. Info Unless specified, screws, dowel pins and other hardware are included only for the Sensor side, never for the robot side. Info For Spare Parts and kits before the update of FT 300-STorque Sensor, please consult the instruction manual available in the Archivessectionof our support website. Item Description Ordering Number FT 300-SSensor Standard Kit Robotiq Force Torque Sensor , includes cable and USB converter. FTS-300-S-KIT-001 Kit for OMRON TM Standard Sensor with Coupling for OMRON TM FTS-300-S-OMRON-KIT Sensor Replacement sensor, sensor alone. FTS-300-S-SEN-001 Coupling for ISO 9409-1-50-4-M6 Coupling for 50 mm PCD1 (4)M6 thread and (1)6 mm M6 dowel pin. To be used on UR, TM and Omron robots. FTS-300-S-CPL-014 Coupling for ISO 9409-1-31.5-4-M5 Coupling for 31.5 mm PCD1 (4)M5 thread and (1)5 mm M5 dowel pin. FTS-300-S-CPL-029 Coupling for ISO 9409-1-40-4-M6 Coupling for 40 mm PCD1 (4)M6 thread and (1)6 mm M6 dowel pin. FTS-300-S-CPL-030 Coupling for P.C.D. 39 and 8 x M3 Coupling for 39 mm PCD1 (8)M3 thread and (1)3 mm M3 dowel pin. FTS-300-S-CPL-031 Robotiq Device Cable 10 m cable for power and communication with the FT Sensor CBL-COM-2073-10-HF 1Pitch Circle Diameter FT 300-SForce Torque Sensor - Instruction Manual 46

8.1. General troubleshooting 8.1.1.An offset hasappeared in the Sensor data l Changes in ambient conditions can cause an offset in the sensor signals. l An offset can also be caused if the sealing o-rings are displaced during an overload. l These offsets do not account for a de-calibration of the Sensor as they are in fact recognized as effort applied to the Sensor. Any additional force applied on the tool side of the Sensor will be read normally. l In all cases, it is recommended to have a software offset which compensates for these variations in addition to the effort caused by the tool weight for a given orientation. It is preferable to set the software offset before starting to use the sensor data such that the robot software uses a proper and consistent reference. 8.1.2.Procedure to determine if the Sensor isfunctional l Verify that the Sensor is connected according to the Installation section of this manual. l Power-off the Sensor and then connect the provided USB/RS485 converter to a USB port of a Windows PC. l In the Windows PC, open the Device Manager. l You should see a USB Serial Port device in the Ports (COM & LPT)category. If not, it is possible that the converter drivers have not installed automatically. You can download the drivers from the ftdichip.com website. l Power the Sensor with the recommended voltage. l Download the simple data logger application at support.robotiq.com l Run the data logger application. Enter 100 for the number of data per 10 seconds and any file name (for example " test.csv" ). l Verify that the sensor data is displayed in the Windows console application. FT 300-SForce Torque Sensor - Instruction Manual 47

48 8.2. Troubleshooting on other platforms 8.2.1.USBconverter detected asa mouse by Windows l 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 l 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. 8.2.2.Data frequency under 100 Hz in Windows l By default, the USB to RS485 converter has a latency setting of 16 ms in Windows (1 ms in Linux), which will prevent the applic- ation software from receiving new messages at 100 Hz (it will often read two sensor messages in the buffer at the same time). l In the Windows Device Manager, right click on the virtual COM port for the Sensor and select Properties. In the Port settingstab, click on Advanced. Adjust the latency timer to 9 ms(it is not recommended to lower it too much in Windows since other con- nectivity issues may arise), then click OK. 8.2.3.In Linux, the serial port cannot be opened l By default, a user does not have access to the serial ports. l It is possible to provide this access by adding the user to the dialout group with the following command: rd@debian:~/$ sudo usermod -a -G dialout username

49 9. Harmonized Standards, Declarationsand Certificates 9.1. Original EU Declaration of Conformity

50 9.2. Applied standards This section describes all applied harmonized standards for the design and production of the Robotiq FT 300-S Force Torque Sensor. Standards are applied where 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. Info Conformity of the product is only met if all instructions of the following manual are followed. Among others; installation, safety measure and normal usage must be respected. The following standards have been applied: EN 61000-6-2 2016 Generic standards – Immunity standard for industrial environments EN 61000-6-4 2007 + A1: 2011 Generic standards – Emission standard for industrial environments ISO 9409-1 2004 Manipulating industrial robots – Mechanical interfaces – Part 1: Plates

date of reception when utilized as intended with the specified maintenance. Robotiq also warrants that this equipment will meet applicable specifications under normal use. Caution Warranty applies under the following conditions: l Usage respects the operating, transporting and storage conditions specified in the Environmental and Operating Conditionssection l Usage under normal one-shift operation (40h a week) l Usage respects maintenance specified in the Maintenance section During the warranty period, Robotiq will repair or replace any defective product, as well as verify and adjust the product free of charge if the equipment should need to be repaired or if the original adjustment is erroneous. If the equipment is sent back for verification during the warranty period and found to meet all published specifications, Robotiq will charge standard verification fees. The unit is considered defective when at least one of the following conditions occurs : l The Sensor feedback is not accessible; l Sensor signal noise is over twice the specified limit. Caution The warranty will become null and void if the : l Unit has been tampered with, repaired or worked on by unauthorized individuals. l Warranty sticker has been removed. l Screws, other than as explained in this guide, have been removed. l Unit has been opened. l Unit serial number has been altered, erased, or removed. l Unit has been misused, neglected, or damaged by accident. This warranty is in lieu of all other warranties expressed, implied, or statutory, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. In no event shall Robotiq be liable for special, incidental, or consequential damages. Robotiq shall not be liable for damages resulting from the use of the product, nor shall be responsible for any failure in the performance of other items to which the product is connected or the operation of any system of which the product may be a part. 10.1. 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. FT 300-SForce Torque Sensor - Instruction Manual 53

54 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. It also excludes all consumable parts, such as suction cups, and their normal wear.

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. dof.robotiq.com FT 300-SForce Torque Sensor - Instruction Manual 55