ROBOTIQ FT 150 Instruction Manual

Robotiq inc. © 2016 2 Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 Revisions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1. General Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2. Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.1 Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.2 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 3. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 3.1 Scope of delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 3.2 Environmental and operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 3.3 Mechanical connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 3.4 Power supply specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 3.5 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 3.5.1 Wiring with USB to RS485 converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 3.5.2 Wiring with RS232 to RS485 converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 3.6 Calibration procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 3.6.1 Calibration procedure with Universal Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 3.6.2 Calibration procedure for the Visual Demo Software (PC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 3.7 Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 4. Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 4.1 Development package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 4.1.1 Linux . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 4.1.2 Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 4.2 ROS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 4.3 Universal Robots driver package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 4.3.1 Installing and testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 4.3.2 Provided examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 4.3.3 Custom programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 4.4 ActiveDrive toolbar for Universal Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 4.4.1 ActiveDrive installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 4.4.2 ActiveDrive features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4.4.3 ActiveDrive troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 4.5 Visual Demo Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 4.6 Serial communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 5. Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 5.1 Technical dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 5.1.1 Robot side bolt pattern . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 5.1.2 Tool side bolt pattern . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 5.2 Mechanical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 5.2.1 Moment of inertia and center of mass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 5.3 Signal specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 5.4 Electrical ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 5.5 Couplings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 5.5.1 Blank coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 6. Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 7. Spare Parts, Kits and Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 8. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 9. Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 10. Contact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Instruction Manual Robotiq inc. © 2016 3 Home Click the Robotiq logo at anytime to return to the support section homepage. © Robotiq inc. 2016 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: . http://support.robotiq.com/ Revision 2016/04/26 Update for ActiveDrive toolbar, added calibration instructions Revision 2016/01/18 Update for FT-300 Revision 2014/09/08 Official release Copyright

Instruction Manual Robotiq inc. © 2016 4 © 2016 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. 1. General Presentation Terminology : The terms ''Sensor'', ''Robotiq Sensor'', ''Force Sensor'', ''Torque Sensor'', ''FT Sensor'' used in the following manual refer to the and unless specified. Robotiq Force Torque Sensor FT 150 Robotiq Force Torque Sensor FT 300 T he Robotiq FT sensor comes in two version, FT 150 and FT 300. Both version are physically different but the concept of utilization and the software provided by Robotiq is the same for both products. The following manual instructions apply to both versions unless explicitly stated otherwise. The Robotiq FT sensor is a robotic peripheral designed for force and torque data acquisition. The FT Sensor is meant to have an end-of-arm tool mounted on it, so that it can sense force and torque applied on the tool. The Sensor is compatible with various tools and provides feedback that can be used for: hand guiding a robot, force control processes, assembly tasks, product testing, etc. Note The following manual uses the metric system, unless specified, all dimensions are in . millimeters Note The following section presents the key features of the Sensor and should not be considered as being related to Sensor operation, each feature is detailed in the appropriate section of the manual. Safety guidelines must be read and understood before any operation is attempted with the Sensor. FT-150 vs FT-300 : Although both versions of the FT Sensor share the same features and method of installation / integration, they are physically different, see Figure 1. Difference : Feature FT-150 FT-300 Connectivity M12 mounted connector Pigtail cable (1 m) with M12 connector Thru hole Yes No Outside diameter 120 mm 75 mm

Instruction Manual Robotiq inc. © 2016 5 Inner diameter 45 mm N/A Thickness 37.5 mm 37.5 mm Weight 650 g 300 g Sensing range ±150 N ± 300 N ± 15 N*m ± 30 N*m Similitude : Feature FT-150 FT-300 Effective resolution 0.2 N 0.02 N*m Cross-talking None External noise sensitivity Immune Overload capacity 500% Input Voltage 24 V DC Maximum power consumption 2 W Communication interface RS-485, USB Figure 1.1 : General presentation of the Robotiq Force Torque Sensors with main features.

Instruction Manual Robotiq inc. © 2016 6 FT Sensor 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 correct 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. Note that the inside ring must touch the robot. not Info Details on the bolt pattern and indexing pin for the tool side and the robot side can be found in the specification section. The screw positioning for the coupling and the robot mountings are shown in orange. See the Spare Parts for a list of available Couplings. section M12 connector (pigtail or mounted) allows for both power and data transfer for the Sensor. Status LED provides visual information on the status of the Sensor, see for details. Section 3.6 The thru hole is used in conjunction with hollow wristed robots to pass cables (only on the FT 150). Figure 1.2 : FT Sensor force and torque diagrams.

Instruction Manual Robotiq inc. © 2016 7 Figure 1.2 represents the various force and torques that the FT Sensor can measure. Reference frame is centered on the Sensor as shown above and visual inscriptions are also represented on it. For both Sensors, the Z axis passes through the center of the thru hole with positive direction in the tool direction. For both Sensors, the X axis traces a symmetric line centered on the connector, The FT 150 positive direction points towards the connector, The FT-300 positive direction points the opposite way; away from the connector, For both Sensors, the Y axis uses the right hand thumb rule according to X-Z. Figure 1.3 : FT Sensor options. Figure 1.3 above represents various options available. They can be found in Section 7. Spare Parts, Kits and Accessories. Couplings are meant to install the FT Sensor on various robot models, see available models. Sensor Cable is used for power and communications with the FT Sensor and is available in different lengths. Mechanical Protector is meant to protect the cable connector from collisions that can occur when operating the robot (especially useful when in teach mode) ( ). only for the FT 300 Tool Plate is not shown, but might be required when certain end-of-arm tools are mounted on the FT Sensor. Info See Section for details on the installation of various options. 3. Installation Various software packages are provided (identical for both version) and detailed in of this manual. Section 4. Tip It is important to understand that the FT 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, see for details. Section 4.4

Instruction Manual Robotiq inc. © 2016 8 2. Safety Warning The operator must have read and understood all of the instructions in the following manual before handling the Robotiq Force Torque Sensor. The term "operator" refers to anyone responsible for any of the following operations on the FT 150 or FT 300 and associated robot or tools : Installation Control Maintenance Inspection Calibration Programming 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.

Instruction Manual Robotiq inc. © 2016 9 2.1 Warning Note 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. See local or international safety measure for human-robot collaboration. Warning The Sensor needs to be properly secured before operating the robot. Do not install or operate a Sensor that is damaged or lacking parts. Never supply the Sensor with an alternative current. Make sure all cord sets are always secured at both ends, at the Sensor and at the robot. Always respect the recommended keying for electrical connections. Be sure no one is in the robot and/or Sensor path before initializing the robot's routine. Always respect the Sensor payload. All local safety measures and/or laws on robot operation must be applied to the Sensor. Any use of the Sensor in noncompliance with these warnings is inappropriate and may cause injury or damage.

Instruction Manual Robotiq inc. © 2016 10 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 product is intended for installation on a robot or other automated machinery or equipment. Note 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.

Instruction Manual Robotiq inc. © 2016 11 3. Installation Warning Be sure to read and understand the related to the Robotiq Force Torque safety instructions Sensor prior to installation. 3.1 Scope of delivery Standard delivery for an FT Sensor kit : FTS-150-KIT-001 FTS-300-KIT-001 Robotiq Force Torque Sensor FT 150 unit Robotiq Force Torque Sensor FT 300 unit N/A 1 m pigtail cable 10 m Robotiq Device Cable ( CBL-PWR-2054-10) 10 m Robotiq Device Cable ( ) CBL-PWR-2054-10 USB Signal Converter ( ACC-ADT-USB-RS485) USB Signal Converter ( ) ACC-ADT-USB-RS485 Options : Couplings Note Coupling is optional for the FT 150, but mandatory for the FT 300. Adapter plates Tool plates Mechanical Protector Info Only available with the FT 150. Different cable lengths Note The following are not included in delivery unless specified in the purchase: Options such as couplings and adapters for mounting on divers industrial robots. Hardware required for options; accessories or fixtures for the FT Sensor unless specified. Power supply units, power supply wiring or fuses. See section for a list of available parts. Spare Parts, Kits and Accessories

Instruction Manual Robotiq inc. © 2016 12 3.2 Environmental and operating conditions The FT Sensor is designed for industrial applications. Always respect the following specified storage, transport and operating environmental conditions: FT 150 / FT 300 Minimum storage/transit temperature -25°C Maximum storage/transit temperature 70°C Minimum operating temperature 15°C Maximum operating temperature 35°C Humidity (non-condensing) 20-80% RH Vibration (storage / transit) 5G Vibration (operating) 2G Others Free from dust, soot or water Free from corrosive liquids or gases Free from explosive liquids or gases Free from powerful electromagnetic interference

Instruction Manual Robotiq inc. © 2016 13 1. 2. 3. 4. 3.3 Mechanical connections You must use a coupling to attach the Sensor to a robot. Be sure to use the coupling related to your robot model. Our couplings are listed according to 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. To see available couplings and adapter plates and for details, see the Spare Parts, Kits and Accessories . section Note The FT 300 coupling is mandatory, you can customize yours from a blank provided by Robotiq. Here are the steps to follow for the installation of the Sensor (see Figure 3.3.1 and 3.3.2). Note that all screws must be locked in place using medium strength threadlocker, such as Loctite 248 or a similar product. Align the indexing dowel pin between the coupling and the robot (usually press fitted to the robot). Screw the coupling to the robot with the robot mounting screws (with lock washers if provided) and threadlocker. Align the Sensor indexing dowel pins (prefixed to the Sensor) to the coupling. Screw the Sensor to the coupling using the coupling mounting screws (with lock washers if provided) and threadlocker. Figure 3.3.1 : Attaching the FT 150 sensor to a robot arm with a coupling

Instruction Manual Robotiq inc. © 2016 14 Figure 3.3.2 : Attaching the FT 300 sensor to a robot arm using the mandatory coupling. 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. POWER SUPPLY SPECIFICATIONS FT-150 FT-300 Output voltage 6 to 24 V DC 5 to 24 V DC Max power consumption 2 W 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

Instruction Manual Robotiq inc. © 2016 15 3.5 Wiring Power and communications are established with the FT Sensor via a single device cable. The pinout is the same on both versions of the FT Sensor although the FT 150 has a mounted connector, while the FT 300 has a pigtail cable. Both the FT 150 and FT 300 cables maintain the same wiring standard, but the FT 150 cable has a 90 degree angled connector, while the FT 300 pigtail cable has a straight connector which includes the LED power light. Figure 3.5.1 represents the FT 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. Both versions of the Sensor share the same M12 5 pins / male pinout. Warning Use proper cabling 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. Figure 3.5.1 : Pinout of the Robotiq Force Torque Sensor FT 150/300 and color code for the respective 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 / converter. RS-232

Instruction Manual Robotiq inc. © 2016 16 3.5.1 Wiring with USB to RS485 converter When using a RS485 to USB converter (see ), the wiring must respect Spart Parts, Kits and Accessories section Figure 3.5.1.1 and the following directions. GND / 0V is wired to Sensor pin #1 as stated in Section 3.5. The converter will provide you with a standard USB 2.0 male A connector. Warning Power is not delivered via the USB, . do not plug 24V into the USB Figure 3.5.1.1 : Wiring diagram for the different RS485 to USB converters delivered before & after April 2015.

Instruction Manual Robotiq inc. © 2016 17 3.5.2 Wiring with RS232 to RS485 converter When using a RS232 to RS485 converter (see ), the wiring must respect Spart Parts, Kits and Accessories section Figure 3.5.2.1. Warning Do not wire converter pin #3 (5V) on the RS485. The 24V power supply is supplied via the converter. NOT The converted side will provide you with a standard DB - 9 female connector with signaling as shown in Figure 3.5.2.1. Figure 3.5.2.1 : Wiring diagram for RS232 to RS485 converter.

Instruction Manual Robotiq inc. © 2016 18 1. 3.6 Calibration procedure Why do I need to calibrate the installation offset of my FT-150 / FT-300 ? 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. Warning The sensor must be re-calibrated after each uninstall / install on the robot. Mounting screws will induce internal stress that needs to be compensated for. Not doing so will significantly affect the sensor signal. How does it work? The procedure requires moving the robot in three configurations for which each orientation of the tool is different. Using an internal accelerometer, the sensor is then able to associate the measurements corresponding to the tool alone for each orientation. After the procedure is completed, the sensor will output the force and moment measured without the effect of the weight of the tool and the installation offset. 3.6.1 Calibration procedure with Universal Robots Info You need the Universal Robots software package installed first, see for the Section 4.3.1 package download and installation. To calibrate your FT Sensor : Inside Polyscope, load the program, calib_tool_.urp, located in the folder called: Sensor (for a CB2 robot, use program calib_tool_CB2.urp).

Instruction Manual Robotiq inc. © 2016 19 2. Run the program. Follow the instructions on the pop-ups. The displayed instructions explain how to move the robot through the three different poses. In each case, make sure that no external force is applied on the tool.

Instruction Manual Robotiq inc. © 2016 20 3. You can now monitor the forces in the Variables tab.

Instruction Manual Robotiq inc. © 2016 21 1. 2. 3.6.2 Calibration procedure for the Visual Demo Software (PC) Info You need the Visual Demo Software installed first, see for download and installation. Section 4.5 To calibrate your FT Sensor : Go to the "Tool Calibration" tab and follow the instructions. Once completed, go to the "Sensor Data" tab.

Instruction Manual Robotiq inc. © 2016 22 2. 3.7 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 Figure 3.6.1. On the FT 150 Sensor, the LED is located on the Sensor, next to the cable connector : COLOR LED STATE INFORMATION - off No power Blue / red on FT 150 Sensor is booting Blue on FT 150 Sensor is functional On the FT 300 Sensor, the cable sleeve is the LED conductor : COLOR LED STATE INFORMATION - off No power Blue / red on FT 300 Sensor is booting Red on FT 300 is functional, no communication detected Red blinking FT 300 Sensor fault detected

Instruction Manual Robotiq inc. © 2016 23 Blue on FT 300 Sensor is functional, communication established Figure 3.6.1 : FT Sensor status LED.

Instruction Manual Robotiq inc. © 2016 24 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 Sensor. Tip Section 4. information on software is identical for both versions of the FT Sensor. Section 4.1 and sub-sections 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. links to ROS. Section 4.2 and sub-sections refers to the driver package for Universal Robots. Section 4.3 refers to the ActiveDrive toolbar for Universal Robots. Section 4.4 and sub-sections explains the Demo Software Section 4.5 will detail the use of serial communication in generic applications Section 4.6 The following table represent compatibility of our various software packages on Universal Robots : Package CB1 CB2 CB3 CB3.1 FT Sensor driver package NO YES YES YES ActiveDrive toolbar NO NO YES YES 4.1 Development package The Robotiq Force Torque Sensor development package can be downloaded at . support.robotiq.com 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:

Instruction Manual Robotiq inc. © 2016 25 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 conditions 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, 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.

Instruction Manual Robotiq inc. © 2016 26 1. 2. 3. 4. 5. 6. 4.1.1 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): src: contains the source files common to all platforms obj: used during compilation for the object files related to the common sources Linux: contains Linux specific files bin: contains the binary files src: contains the source files common to all platforms main.c : application source file which can be modified by the user obj: contains all the object files after they are compiled Makefile: file containing the rules to compile the sensor driver using Make 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. Unzip the package in the home folder, for example in the folder ~/driver/ Open a terminal and enter the package directory using the following command: rd@debian:~/$ cd driver Use Make to compile the application: rd@debian:~/$ make linux In order to have access to the virtual serial COM port, add the used to the group : username dialout rd@debian:~/$ sudo usermod -a -G dialout username It is required to logout (or reboot) the session in order for the group change to become effective. Make sure that the sensor is properly powered and that the data signals are connected to the development PC using the provided RS-485 to USB converter. A new device named ttyUSBx should be present in /dev, which can be verified with the following command: rd@debian:~/$ ls -l /dev | grep ttyUSB

Instruction Manual Robotiq inc. © 2016 27 7. 8. 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 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. Figure 4.1.1.1 : 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. Please note that Robotiq can only support our customers in making sure they can compile and test the provided code . as is No support can be provided for the integration of the provided source code into a custom application.

Instruction Manual Robotiq inc. © 2016 28 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 4.1.2 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 main.c : application source file which can be modified by the user obj: contains all object files after they are compiled Data_logger: contains an application (and its source code) to log data from the sensor compiler.bat: script which automates the settings for the environment variables and the compilation of the example application 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. Unzip the package in the desired directory. If it is not already installed, download MinGW at . Download the installer http://www.mingw.org/ "mingw-get-setup.exe". Install MinGW by running "mingw-get-setup.exe" and save the default installation path. Open "MinGW installation manager". Select "mingw-developer-toolkit" in the "Basic setup" tab and click "Mark for Installation". Select "mingw32-binutils" in the "All packages" tab and click "Mark for Installation". In the menu "Installation", click "Apply changes". This will install the required packages to compose the software using Make. In the Windows directory, run the compiler.bat file. This will build your application. Run the application "driverSensor" located in the "Windows/bin/" folder. 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. Figure 4.1.2.1 : Sensor Data Acquisition Under Windows.

Instruction Manual Robotiq inc. © 2016 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. Please note that Robotiq can only support our customers in making sure they can compile and test the provided code . as is No support can be provided for the integration of the provided source code into a custom application.

Instruction Manual Robotiq inc. © 2016 30 4.2 ROS ROS is an open-source framework for developing robot software. The Robotiq Force Torque Sensor has a ROS package which allows you to read the sensor data and bias the sensor. The ROS package is called robotiq_force_t and is part of the . orque_sensor ROS-Industrial repository Procedure to install and test the Robotiq Force Torque Sensor package Note This tutorial assumes that ROS is already installed. These instructions have been tested on ROS Hydro and ROS Indigo with an Ubuntu system. 1. Create a ROS workspace according to this tutorial: http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROS Environment 2. Checkout the in the src/ folder. robotiq_force_torque_sensor package 3. Go back into the workspace root and execute the following command in a terminal: rd@ROS:~/$ catkin_make robotiq_force_torque_sensor_generate_messages 4. Run the following command to build your package: rd@ROS:~/$ catkin_make 5. In order to allow your Linux user to open the serial port, run the following command as a superuser: rd@ROS:~/$ usermod -a -G dialout YOURUSERNAME 6. Logout and then re-login to the session to activate the user access modification. 7. Go back into the workspace root. 8. For each terminal proceed with the following steps, source the Catkin workspace using this command: rd@ROS:~/$ source devel/setup.bash 9. In its own terminal, start roscore: rd@ROS:~/$ roscore 10. In its own terminal, start rq_sensor:

Instruction Manual Robotiq inc. © 2016 31 rd@ROS:~/$ rosrun robotiq_force_torque_sensor rq_sensor 11. In its own terminal, start rq_test_sensor (which displays the data and intermittently biases the sensor): rd@ROS:~/$ rosrun robotiq_force_torque_sensor rq_test_sensor 4.3 Universal Robots driver package The Robotiq Force Torque Sensor can be directly and very easily integrated with Universal Robots using the software package described in this section. Once installed, the sensor readings will be available in Polyscope and will be directly usable in the robot program, for example to measure loads. The package contains a software which will run in the background and some program templates to read the data in Polyscope. guides you through the installation and testing of the UR package. Section 4.3.1 details the provided examples. Section 4.3.2 explains how to build custom programs using the provided templates. Section 4.3.3

Instruction Manual Robotiq inc. © 2016 32 1. 2. 3. 4. 4.3.1 Installing and testing Software Package Installation Tip Make sure your Polyscope version is up-to-date and your controller is compatible with the driver package for UR (see for compatibility matrix) section 4. The Robotiq Force Torque Sensor software package can be downloaded at: . support.robotiq.com Extract the content of the zip file onto a blank USB flash drive. Plug the flash drive into a USB port for the robot controller (for example the one on the teach pendant). The pendant screen will show some status information while the software package is automatically installing. Do not unplug the flash drive until the operation is completed. When a green "USB" text is shown, unplug the USB drive.

Instruction Manual Robotiq inc. © 2016 33 1. 2. 3. Figure 4.3.1 : Reference images for power supply and communications wiring of the FT Sensor on the Universal Robots controller. Calibration Follow the calibration procedure shown in section 3.6.1 Testing the Software Package Make sure that the sensor is installed on the robot wrist, that the sensor cable is connected to the sensor and that it is routed to the Universal Robots' control box. (Remember to practice good cable management and allow enough flexibility in your cable lines.) According to the wiring section of this manual, connect the the power wires of the sensor to a 24V power source. The Universal Robots 24V and GND lines are available for this purpose. The blue led of the sensor should be lit at this point. According to: Wiring with USB to RS485 converter, , connect the sensor wires to the converter Section 3.5.1 or see Figure 4.3.1 above. Plug the USB connector of the converter into the available USB port located inside the Universal Robots' control box.

Instruction Manual Robotiq inc. © 2016 34 4. 1. 2. 3. 4. 5. 1. a. i. ii. 2. a. i. ii. iii. iv. 3. a. i. ii. iii. iv. Inside Polyscope, load the program called "test_sensor" located in the "sensor" folder and run it. The program will display popups with the following information: sensor firmware version, production year, serial number. The force and torque current readings for Fx, Fy, Fz, Mx, My and Mz are displayed in the tab. Variables Removing the Package Use the uninstall.sh file provided in the package. Place it alone on a blank USB stick. Rename it to urmagic_uninstall.sh. Plug the USB stick into the UR controller (or teach pendant). Uninstall will be automatic. 4.3.2 Provided examples When driver package DFU-X.X.X provided at is installed as shown in , demo scripts support.robotiq.com Section 4.3 will be available. demo_force_push_move.script Will move the robot towards the z axis until a force in the z axis is reached. When the Fz_max threshold is reached the robot will stop (set to 15N in the example). Fz_tolerance is the tolerance for "noise" on the signal, set to 2.5N. Tip Always leave a tolerance on the force lecture, minimum is +- 0.5 N, so a noise level under 1 N will result in erratic results. In this example, 2.5N is used because the sensor and the tool cables can have an effect on the sensor too. demo_force_push_release.script Will apply a force along the z axis and move Robot moves to a defined position Robot will apply a force on a surface equal to Fz_applied Threshold force is set with Fmax Robot will return to Home demo_force_twist_release_script Will move the robot wrist in a rotary movement to apply a certain amount of moment in the z axis then move Robot moves to a defined position Robot will apply moment (Torque) Mz at the wrist. Threshold moment is set with Mmax Robot will return to Home 4.3.3 Custom programs First, open "sensor_template" in the list of provided templates. Second, push ''play'' and check on the ''variables'' tab, you will see the sensor variables Fx, Fy, Fz, Mx, My, Mz. You can verify by applying force to the sensor, it should respond. Now add your instructions in the robot program section, for example you can command the robot to move until you read a certain threshold of force. The program instructions (robot motion, logic, etc.) can be added after the "Script: accessor_capt" line and you can start building the program as it is normally done with Polyscope.

Instruction Manual Robotiq inc. © 2016 35 1. 2. 1. Tip It is recommended to load the program "sensor_template" in the "sensor" folder and modify it there to simplify the sensor integration. The program initializes the sensor variables (required to be used globally), runs a script, which starts a thread for reading the sensor data and updating the variables. The script also contains some subprograms to interact with the sensor data. Info The sensor data is available for the following variables: Fx, Fy, Fz, Mx, My, Mz. When a variable list is shown (for example when programming an "IF" statement), they will be available in the scroll box. The variables are floats with force being in Newtons (N) and moment being in Newtons-meters (Nm). The variables are updated automatically by the sensor thread. Tip Calibrating the zero of the sensor is essential to compensate for tool weight and other factors that could affect the readings. It is recommended to use the "rq_set_zero" subprogram in the program to set the readings to zero before applying/measuring force or torque. Use the "rq_set_zero" subprogram when no force is applied on the sensor and with the same orientation you want to use for further readings. 4.4 ActiveDrive toolbar for Universal Robots Robotiq ActiveDrive toolbar is an add-on software package to enhance guiding mode on Universal Robots. It allows the robot to be moved smoothly and easily to a waypoint. ActiveDrive works on UR robots with CB3 and CB3.1 controllers using Polyscope version 3.2 or later, with Robotiq’s FT 150 and FT 300 Force Torque Sensors. guides you through the installation of the ActiveDrive Section 4.4.1 details the features Section 4.4.2 gives you an overview of possible troubleshooting messages Section 4.4.3 4.4.1 ActiveDrive installation Tip Make sure your of Polyscope is up-to-date and your controller is compatible with the version ActiveDrive toolbar (see for the compatibility matrix). Section 4. Prior to installing the ActiveDrive toolbar : Install the Sensor driver package for Universal Robots (see ) Section 4.3 Follow the calibration procedure for Universal Robots (see ) Section 3.6.1 To install the ActiveDrive toolbar : The Robotiq ActiveDrive toolbar can be downloaded at : . support.robotiq.com

Instruction Manual Robotiq inc. © 2016 36 1. 2. 3. 4. Extract the content of the zip file onto a blank USB flash drive. Plug the flash drive into a USB port for the robot controller (for example, the one on the teach pendant). The pendant screen will show some status information while the software package is automatically installing. Do not unplug the flash drive until the operation has been completed. When a green "USB" text appears, then unplug the USB drive. Once installation is complete, this ActiveDrive button will appear : 4.4.2 ActiveDrive features After following the installation instructions from the previous section, you will have access the toolbar : Collapsed view : Expanded view : Expanded view with mode buttons expanded :

Instruction Manual Robotiq inc. © 2016 37 The table bellow summarize the features provided : Primary Icon Secondary Icon Functionality Name Description ActiveDrive Tap to toggle between expanding and collapsing the ActiveDrive toolbar. When grey, the functionality is not available (tap button to get more info on why it is not available). Start / Stop Tap to start or stop ActiveDrive. ActiveDrive will automatically turn off after 30s of inactivity. When initiated, ActiveDrive allows you to move the robot freely by applying force on robot’s end effector. This is different from the Free Drive feature of the robot, where you can also move the robot arm. Modes Shows the current ActiveDrive mode. When tapping the icon, the available modes will appear and you can change to a different mode. ActiveDrive modes allow you to constrain the robot to specific movements. Free Free motion: all translations and rotations are allowed.

Instruction Manual Robotiq inc. © 2016 38 Scara Scara style motion: all translations and horizontal rotation (twist) are allowed. Translation Translation motion: only translations are allowed. No rotation of the robot is possible in this mode. Plane Plane motion: horizontal translations and horizontal rotations (twist) are allowed (no vertical motions are allowed). Drift Control Tap this button to stop the robot from drifting (reset sensor offset). 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, after an impact with an object. Hold button Square robot Aligns the TCP orientation with the robot base. Tapping and holding this button will automatically move the end effector to the closest orthogonal orientation with the base axis system (just try it, you will see!). 4.4.3 ActiveDrive troubleshooting The following messages will pop-up: When starting ActiveDrive while an excessive force is applied to the tool (ActiveDrive currently detects a force : applied on the tool)

Instruction Manual Robotiq inc. © 2016 39 If the tool is in contact with an obstacle, press "Ok", move the robot away (with Free Drive or the Move tab) and start ActiveDrive again. If not, make sure that the tool is at rest and press "Zero Sensor" to start ActiveDrive. When the speed setting of the robot is lower than 50%: ActiveDrive has stopped because the robot's speed setting is lower than 50%. Please adjust the speed setting and try again. When unavailable, the ActiveDrive toolbar will be automatically collapsed and greyed out. As follows: In some cases, clicking on the ActiveDrive button will bring up the following messages: If no Force Torque Sensor is detected:

Instruction Manual Robotiq inc. © 2016 40 ActiveDrive cannot access the Sensor data. Make sure that the Force Torque Sensor is connected properly and that its driver is installed on the robot. If the robot is not properly initialized: ActiveDrive cannot start because the robot is not initialized. If a program is already running: ActiveDrive cannot start because a robot program is already running. If ActiveDrive is badly installed:

Instruction Manual Robotiq inc. © 2016 41 ActiveDrive software installation is incomplete. Please re-install ActiveDrive. If the speed setting of the robot is lower than 50%: ActiveDrive cannot start because the robot speed setting is lower than 50%. Please adjust the speed setting and try again. If the Free Drive button is pressed: ActiveDrive cannot start because the Freedrive button is pressed. Please released thre Free Drive button and try again.

Instruction Manual Robotiq inc. © 2016 42 1. 2. 3. 4. 5. 6. 7. 4.5 Visual Demo Software The Visual Demo Software is used to demonstrate the ability of the FT Sensor to read force and momentum. It is not intended to be used for programming or to save or use data. It can also be used to calibrate the Sensor; see Section 3.6.2 for the calibration procedure. Software Package Installation Make sure that you have the latest version of the Visual Demo Software, which can be found at support.roboti . q.com Copy all the files of this folder onto a PC. Connect the USB connector to the converter attached to the PC. Important : The Sensor must NOT be powered at this time. Wait while the driver(s) install. After all the drivers have been installed. Plug the Sensor cable into the Sensor. Connect the Sensor cable to the power supply. Launch the demo application.

Instruction Manual Robotiq inc. © 2016 43 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 "Sensor Data" tab, you can now see in real time the force and moment applied on the FT Sensor. 4.6 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. Note 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. Modbus RTU: The Modbus RTU serial communication configuration parameters are: Parameter Value

Instruction Manual Robotiq inc. © 2016 44 Baudrate (bps) 19200 Data bits 8 Stop bit 1 Parity none Slave ID 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 Acceleration Y (g) = value / 1000 191 Acceleration Z (g) = value / 1000 192 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 , write 0x0200 in register 410. start the data stream 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)

Instruction Manual Robotiq inc. © 2016 45 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) 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. Section 5.5 covers the technical dimensions of the sensor coupling options. 5.1 Technical dimensions Figure 5.1.1 : Robotiq FT 150 Sensor general technical dimensions.

Instruction Manual Robotiq inc. © 2016 46 Figure 5.1.2 : Robotiq FT 300 Sensor general technical dimensions. Info Reminder: Measures in millimeters.

Instruction Manual Robotiq inc. © 2016 47 5.1.1 Robot side bolt pattern Figure 5.1.1.1 shown below describes the bolt pattern for fixation of the FT 150 Sensor onto the robot or other support. M4 screw clearance is meant to fix the Sensor on the coupling that is attached to the robot. Screw heads are present on the non-robot side or the tool side of the Sensor. Both indexing pins are M3 dowel pins press-fitted into the Sensor. Note M3 dowel pins are normally pressed onto the FT 150 sensor when delivered. If press fitting of the M3 dowel pins is required, do not support the FT 150 Sensor from the inner ring during this operation. Failure to adhere to this requirement will disrupt the calibration of the Sensor. Figure 5.1.1.1 : Robot side bolt pattern for the FT 150 Sensor. The FT 300 version has different robot side patterns available, see Section for 7. Spare Parts, Kits and Accessories more details.

Instruction Manual Robotiq inc. © 2016 48 5.1.2 Tool side bolt pattern Figure 5.1.2.1 shows the bolt pattern used for tool fixation on the FT 150 Sensor. Mounting holes are M4 thread, 10 mm deep. Indexing hole for M6 dowel pin is slip fitted and 6 mm deep. Outside diameter of the flange is 64 mm and inside is 45 mm. Note Sensor tool flange must only make contact with the end effector tool flange within the 45 to 64 mm diameter range. Make sure that no other point of the FT 150 Sensor is in contact with the tool. Failure to do so will result in unpredictable force and torque readings from the Sensor. Figure 5.1.2.1 : FT 150 Sensor tool side bolt pattern.

Instruction Manual Robotiq inc. © 2016 49 Figure 5.1.2.2 shows 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. Outside diameter of the flange is 64 mm and inside is 45 mm. Info FT 300 tool side bolt pattern matches ISO-9409-1-50-4M6 Figure 5.1.2.2 : FT 300 Sensor tool side bolt pattern. 5.2 Mechanical specifications Info Reminder, all units are metric units. SPECIFICATION FT 150 FT 300 Approximate Weight 650 g 300 g Maximum load (all axes) 750 N (500%) 2 1500 N (500%)2 Outside diameter 120 mm 75 mm

Instruction Manual Robotiq inc. © 2016 50 Through-hole diameter 45 mm N/A Thickness 37.5 mm 37.5 mm IP rating 541 43 Stiffness F , F x y 3.2 X 10 N/m 6 Fx, Fy ? X 106 N/m Fz 3.9 X 106 N/m Fz ? X 106 N/m M , M x y 4700 Nm/rad Mx, My ? Nm/rad Mz 4600 Nm/rad Mz ? Nm/rad 1 : Expected rating, certification is planned and will be forthcoming (see manual revision date). 2 : Maximum load expressed in % of measuring range.

Instruction Manual Robotiq inc. © 2016 51 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 . Figure 5.1.1 Info All values are approximate. Actual coordinates may vary according to various options present on the Sensor. Here is the approximate position of the center of mass for the FT Sensor : Coordinate FT 150 (mm) FT 300 (mm) GX 1.5 - 0.3 GY 0 0 GZ 2.5 20.3 Here is the approximate moment of inertia matrix for the FT Sensor, taken at the coordinate system origin : Figure 5.2.1.1 : Moment of inertia of the FT Sensor 150 and 300.

Instruction Manual Robotiq inc. © 2016 52 5.3 Signal specifications SPECIFICATION FT 150 VALUE FT 300 VALUE Measuring range Force ± 150 N ±300 N Torque ± 15 Nm ± 30 Nm Signal noise Fx, Fy 0.5 N 0.8 N Fz 0.5 N Mx, My 0.03 Nm 0.01 Nm Mz 0.03 Nm External noise sensitivity Immune 1 Cross-talking None 2 Drift Force ± 3 N over 24h ? Torque non-significant non-significant Data output rate 100 Hz Temperature compensation 15 to 35 °C 1 For example, welding current passing through the Sensor hole will not affect the readings. The sensing elements are aligned with the measurement axis, such that they are not affected by efforts in other 2 axes. Info Noise is defined as the standard deviation of all data collected for 10 seconds for a steady signal. The value is computed for the 3-element vector.

Instruction Manual Robotiq inc. © 2016 53 5.4 Electrical ratings SPECIFICATION FT 150 VALUE FT 300 VALUE Input voltage 6 to 28 V DC ± 10% 5 to 24 V DC ± 10% Max power consumption 2 W Communication electrical interface RS-485 Recommended fuse Phoenix #0916604 (UT6-TMC M 1A) Recommended power supply TDK-Lambda DPP Series, 15W Single Output DIN Rail Mount Power , Supply DPP15-24

Instruction Manual Robotiq inc. © 2016 54 5.5 Couplings For a detailed list of available Couplings and Adapter Plates please consult Section 7. Spare Parts, Kits and Accessories. The following sub-sections 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. Note Unless identified for specific packages only, robot side screws and indexing pins are not . provided

Instruction Manual Robotiq inc. © 2016 55 5.5.1 Blank coupling Schematics of Figure 5.5.1.1 below represent optional Blank Coupling for the FT 150 Sensor : (4) M4 thread and indexing pin holes are meant to affix the FT 150. The circular central section of 71 mm diameter (blue section of Figure 5.5.1.1) is available for custom bolt patterns for robot side fixing. Spare part list number is FTS-CPL-BLANK. Figure 5.5.1.1 : Technical dimensions of the blank coupling for the FT 150. Figure 5.5.1.2 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 of Figure 5.5.1.2) represents the customization area and has a depth of 5 mm. Warning Make sure your custom design does not interfere with the M4 threads or the 63 mm, H8 centering circle. Spare part list number is FTS-300-CPL-BLANK

Instruction Manual Robotiq inc. © 2016 56 Figure 5.5.1.2 : Technical dimensions of the blank coupling for the FT 300.

Instruction Manual Robotiq inc. © 2016 57 6. Maintenance The Robotiq Force Torque Sensor requires only external maintenance with limited downtime. Maintenance of the Sensor is required after specified usage, measured in time (normal 40h week). Following the maintenance interval will ensure : Correct functioning of your Sensor. Validity of your warranty. Proper lifetime for your Sensor. Please visit for details on the maintenance operation. support.robotiq.com Warning Unless specified, any repairs done on the FT Sensor will be done by Robotiq. Maintenance Intervals : Operation Daily Weekly Semiannually Zero calibration X1 Sensor cleaning Dirty conditions Normal conditions Periodic inspection X2 1 Zero 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). If there is any damage to the Sensor, contact Robotiq support. 2 visible 7. Spare Parts, Kits and Accessories The following list is up to date at print time and is subject to change, check for updates. online Info Unless specified, screws, dowel pins and other hardware are included only for the Sensor side, never for the robot side. Item Description Ordering Number FT 150 FT 300 Standard Kit Robotiq Force Torque Sensor FT , includes cable and USB converter. FTS-150-KIT-001 FTS-300-KIT-001

Instruction Manual Robotiq inc. © 2016 58 Kit for Universal Robots Standard Sensor with Couplings for Universal Robots and software package. FTS -150-UR-KIT FTS-300-UR-KIT Sensor Replacement sensor, sensor alone. FTS-150-SEN-001 FTS-300-SEN-001 Blank coupling Blank coupling with FT bolt pattern on one side and the other side clear. FTS -150-CPL-BLANK FTS-300-CPL-BLANK Coupling 56-6M4-1D6 Coupling for 56 mm PCD (6) M4 thread and (1) 6 1 mm M6 indexing pin. FTS -150-CPL-101 N/A Coupling 56-8M4-1D4 Coupling for 56 mm PCD 1 (8) M4 thread and (1) 4 mm M6 indexing pin. FTS -150-CPL-102 N/A Coupling 50-4M6-1D6 Coupling for 50 mm PCD 1 (4) M6 thread and (1) 6 mm M6 indexing pin. To be used on UR robots. FTS -150-CPL-103 FTS-300-CPL-062 Coupling 40-4M6-1D6 Coupling for 40 mm PCD 1 (4) M6 thread and (1) 6 mm M6 indexing pin. N/A FTS-300-CPL-064 Coupling 31_5-4M5-1D5 Coupling for 31.5 mm PCD 1 (4) M5 thread and (1) 5 mm M6 indexing pin. FTS-150-CPL-106 FTS-300-CPL-063 Coupling 80-6M8-2M8 Coupling for 80 mm PCD 1 (6) M8 thread and (2) 8 mm M6 indexing pin. FTS-150-CPL-107 N/A Coupling 50-6M6-1D6 Coupling for 50 mm PCD 1 (6) M6 thread and (1) 6 mm M6 indexing pin. FTS-150-CPL-108 N/A Coupling 63-4M6-61_4-1D6 Coupling for 63 mm PCD 1 (4) M6 thread and (1) 6 mm M6 indexing pin on 61.4 mm PCD. FTS-150-CPL-110 N/A Tool plate F-104 Tool side plate for conversion between FT and 50 PCD 4M6-1D6 1 bolt pattern FTS -150-TOOL-104 N/A

Instruction Manual Robotiq inc. © 2016 59 Tool plate F-105 Tool side plate for conversion between FT and 56 PCD 8M4-1D4 1 bolt pattern FTS -150-TOOL-105 N/A Tool plate F-109 Tool side plate for conversion between FT and 40 PCD1 4M3-1D3 bolt pattern FTS-150-TOOL-109 N/A Robotiq Device Cable 5 or 10 m cable for power and communication with the FT Sensor CBL-COM-2054-05 or -10 CBL-COM-2067-05 or -10 FT Connector Protector Cable connector protector (only for Sensor FT 150) FTS -150-PRO-001 N/A 1 Pitch Circle Diameter 8. Troubleshooting The following are some common troubleshooting hints, if you need further assistance please contact the Robotiq Support team. Procedure to Determine if the Sensor is Functional Verify that the Sensor is connected according to the of this manual. Installation section When powered, verify that the LED on the Sensor is blue (not red/blue). FT 150 LED is blue if functional (streaming) FT 300 LED is red if powered without communication, blue if powered with communication Power-off the Sensor and then connect the provided USB/485 converter to a USB port of a Windows PC. In the Windows PC, open the Device Manager. 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 driver from the ftdichi website. p.com Power the Sensor with the recommended voltage. Download the simple data logger application at: support.robotiq.com Run the data logger application. Enter 100 for the number of data per 10 seconds and any file name (for example "test.csv"). Verify that the sensor data is displayed in the Windows console application. 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 Windows: 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. Data Frequency under 100 Hz in Windows By default, the USB to RS-485 converter has a latency setting of 16 ms in Windows (1 ms in Linux), which will prevent the application software from receiving new messages at 100 Hz (it will often read two sensor

Instruction Manual Robotiq inc. © 2016 60 messages in the buffer at the same time). In the Windows Device Manager, right click on the virtual COM port for the Sensor and select "Properties". In the "Port settings" tab, click on "Advanced". Adjust the latency timer to "9 ms" (it is not recommended to lower it too much in Windows since other connectivity issues may arise), then click "ok". In Linux, the Serial Port cannot be Opened By default, a user does not have access to the serial ports. 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 An Offset has Appeared in the Sensor Data A small offset can be caused by the attachment efforts of the Sensor (if the 4 hole pattern on the robot side is not precise enough). These imprecisions can distort the readings taken from the casing of the Sensor. An offset can also be caused if the sealing o-rings are displaced during an overload. These offsets do not account for a decalibration 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. 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. 9. Warranty Robotiq warrants the Force Torque Sensor FT 150 / FT 300 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. Warranty applies under the following conditions: Usage respects the operating, transporting and storage conditions specified in Section 3.2 Usage under normal one-shift operation (40h a week) Usage respects maintenance specified in Section 6 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: The Sensor feedback is not accessible. Sensor signal noise is over twice the specified limit.

Instruction Manual Robotiq inc. © 2016 61 Caution The warranty will become null and void if the: Unit has been tampered with, repaired or worked on by unauthorized individuals. Warranty sticker has been removed. Screws, other than as explained in this guide, have been removed. Unit has been opened. Unit serial number has been altered, erased, or removed. 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. Exclusion 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. 10. Contact www.robotiq.com Go to Contact Us Phone 1-888-ROBOTIQ (762-6847) (01) 418-380-2788 Outside US and Canada Fax 1-418-800-0046 Technical support and Engineering extension 207 Sales extension 124 Head office Robotiq: 966, chemin Olivier Suite 325

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