ROBOTIQ FT 300 Instruction Manual

Instruction Manual robotiq.com | leanrobotics.org Original Notice © 2018 Robotic Inc.

9 1.1. Main features 10 2. Safety 12 2.1. Warning 13 2.2. Intended Use 14 3. Installation 15 3.1. Scope of Delivery 15 3.1.1. Options 15 3.2. Environmental and Operating Conditions 16 3.3. Mechanical Connections 17 3.4. Power Supply Specifications 18 3.5. Wiring 19 3.5.1. Wiring with USB to RS485 Converter 20 3.5.2. Wiring with RS232 to RS485 Converter 21 3.6. Calibration Procedure 22 3.6.1. Calibration Procedure with Universal Robots 23 Payload/CoG 26 3.6.2. Calibration Procedure for the Visual Demo Software (PC) 27 3.7. Status LED 28 3.8. Installation for Universal Robots 29 3.8.1. URCap Package 30 Installation 30 Firmware upgrade 32 Uninstalling the URCaps Package 33 License Agreement 34 3.8.2. UR Package without URCaps 37 Driver Package Installation 37 Calibration 37 Testing the software package 38 Removing the Package 38 ActiveDrive Toolbar Installation 39 FT 300 Force Torque Sensor - Instruction Manual 3

4 4. Software 40 4.1. Control with Universal Robots 41 4.1.1. ActiveDrive Toolbar 42 Overview 42 Toolbar collapsed 42 Toolbar expanded 42 ActiveDrive modes expanded 42 Features 43 Error Messages Overview 45 4.1.2. Using the force and torque values 47 4.1.3. Path Recording 49 Overview 51 Features* 53 Custom Programs 55 4.1.4. Using the Force Torque Sensor's Data in Force Nodes 56 4.2. Development Package 57 4.2.1. Distribution License 57 4.2.2. Linux 59 Package Files – Description 59 Procedure to Compile and Test the Provided Source Code 59 Adapt to a User Application 60 4.2.3. Windows 61 Package Files – Description 61 Procedure to Compile and Test the Provided Source Code 61 Adapt to a User Application 62 4.3. Visual Demo Software 63 4.3.1. Software Package Installation 63 4.4. Serial Communication 65 4.4.1. Modbus RTU 65 4.4.2. Data Stream 67 5. Specifications 68 5.1. Technical Dimensions 68 5.1.1. Tool Side Bolt Pattern 69

5 5.2. Mechanical Specifications 70 5.2.1. Moment of Inertia and Center of Mass 71 5.2.2. Overload Capacity 72 5.3. Signal Specifications 73 5.4. Electrical Ratings 75 5.5. Couplings 76 5.5.1. Blank Coupling 77 6. Maintenance 78 6.1. Maintenance Intervals 78 7. Spare Parts, Kits and Accessories 79 8. Troubleshooting 80 8.1. General troubleshooting 80 8.1.1. An offset has appeared in the Sensor data 80 8.1.2. Procedure to determine if the Sensor is functional 80 8.2. Troubleshooting on Universal Robots 81 8.2.1. ActiveDrive Toolbar troubleshooting – Error messages overview 81 8.3. Troubleshooting on other platforms 83 8.3.1. USB converter detected as a mouse by Windows 83 8.3.2. Data frequency under 100 Hz in Windows 83 8.3.3. In Linux, the serial port cannot be opened 83 8.3.4. Monitoring the Sensor state 84 9. Warranty 85 9.1. Exclusions 86 10. Contact 87 Appendix A – Translation of Original EC Declaration of Incorporation 89 Appendix B – Applied Standards 90

6 Revisions Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or changes in specifications. If such modification is made, the manual will also be revised, see revision information. See the latest version of this manual online at: support.robotiq.com. Revision 2018/03/26 Removed all references to FT 150 Force Torque Sensor Revision 2018/02/13 Removed reference to ROS package (section 4.3) Revision 2017/12/11 Updated control with Universal Robots (section 4.1 and subsections) Revision 2017/10/30 Updated mechanical specifications (section 5.2) Updated signal specifications (section 5.3) Revision 2016/11/18 Updated FT 150 signal specifications (section 5.3) Updated installation for Universal Robots (section 3.8 and sub sections) Updated Control with Universal Robots (section 4.1 and sub sections) 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

7 Copyright © 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.

The terms ''Sensor'', ''Robotiq Sensor'', ''Force Sensor'', ''Torque Sensor'', ''FT 300 Force Torque Sensor'' used in the following manual refer to the Robotiq Force Torque Sensor FT 300 unless specified. The following manual instructions apply to both versions unless explicitly stated otherwise. The Robotiq FT 300 Force Torque Sensor is a robotic peripheral designed for force and torque data acquisition. The FT 300 Force Torque 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. Info The following manual uses the metric system, unless specified, all dimensions are in millimeters. Info The following section presents the key features of the Sensor and must 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. Fig. 1.1: General presentation of the Robotiq Force Torque Sensors with main features. FT 300 Force Torque Sensor - Instruction Manual 9

10 1.1. 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 cor- rect 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. 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 The screw positioning for the coupling and the robot mountings are shown in orange. See the Spare Parts section for a list of available Couplings. l M12 connector (pigtail or mounted) allows for both power and data transfer for the Sensor. l Status LED provides visual information on the status of the Sensor, see Section 3.7 for details. Fig. 1.2: FT 300 Force Torque Sensor force and torque diagrams.

11 The figure above represents the various force and torques that the FT 300 Force Torque Sensor can measure. Reference frame is centered on the Sensor as shown above and visual inscriptions are also represented on it. l The Z axis passes through the center of the thru hole 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. Fig. 1.3: FT 300 Force Torque Sensor options. The figure above represents various options available. They can be found in the Spare Parts, Kits and Accessories section. l Couplings are meant to install the FT 300 Force Torque Sensor on various robot models, see available models. l Sensor Cable is used for power and communications with the FT 300 Force Torque Sensor and is available in different lengths. l Mechanical Protector is meant to protect the cable connector from collisions that can occur when operating the robot (especially useful when in teach mode). 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 Please refer to the Installation section for details on the installation of various options. Several software packages are provided and detailed in the Software section of this manual. Tip It is important to understand that the FT 300 Force 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 Communication section for details.

Torque Sensor. Info The term "operator" refers to anyone responsible for any of the following operations on the FT 300 and the associated robot or tools: l Installation l Controle l Maintenance l Inspection l Calibration l Programming 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 Force Torque Sensor - Instruction Manual 12

13 2.1. Warning Info Any use of the Sensor in noncompliance of these warnings is inappropriate and may cause injury or damage. Warning A Force Torque Sensor used in human-robot collaboration must not be considered a complete safety measure, additional dedicated safety device(s) must be considered. Sensor failure can occur and result in danger for workers or machinery if not properly secured. 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.

14 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. 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-KIT-001 Robotiq Force Torque Sensor FT 300 unit 1 m pigtail cable (CBL-COM-2068-01) 10 m Robotiq Device Cable (CBL-COM-2065-10-HF) USB Signal Converter (ACC-ADT-USB-RS485) 3.1.1. Options l Couplings Info Coupling is mandatory for the FT 300. l Adapter plates l Tool plates l Different cable lengths Info The following are not included in delivery unless specified in the purchase: l Options such as couplings and adapters for mounting on divers industrial robots. l Hardware required for options; accessories or fixtures for the FT Sensor unless specified. l Power supply units, power supply wiring or fuses. Please refer to the Spare Parts, Kits and Accessories section for a list of available parts. FT 300 Force Torque Sensor - Instruction Manual 15

16 3.2. Environmental and Operating Conditions The FT 300 Force Torque Sensor is designed for industrial applications. Always respect the following specified storage, transport and operating environmental conditions: CONDITION VALUE Minimum storage/transit 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 Other l Free from dust, soot or water l Free from corrosive liquids or gases l Free from explosive liquids or gases l Free from powerful electromagnetic interference

17 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, refer to the Spare Parts, Kits and Accessories section. Info 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 below). Note that all screws must be locked in place using medium strength threadlocker, such as Loctite 248 or a similar product. 1. Align the indexing dowel pin between the coupling and the robot (usually press fitted to the robot). 2. Screw the coupling to the robot with the robot mounting screws (with lock washers if provided) and threadlocker. 3. Align the Sensor indexing dowel pins (prefixed to the Sensor) to the coupling. 4. Screw the Sensor to the coupling using the coupling mounting screws (with lock washers if provided) and threadlocker. Fig. 3.4: Attaching the FT 300 sensor to a robot arm using the mandatory coupling.

18 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 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

19 3.5. Wiring Power and communications are established with the FT 300 Force Torque Sensor via a single device cable. The FT 300 has a pigtail cable. The figure below represents the FT 300 Force Torque Sensor receptacle (Sensor side) and connector (cable side) with associated pinout. The M12 - 5 pin A-coded connector is used in accordance with IEC 61076-2-101. 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. Fig. 3.5: Pinout of the Robotiq Force Torque Sensor FT 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 / RS-232 converter.

20 3.5.1. Wiring with USB to RS485 Converter When using a RS485 to USB converter (refer to the Spare Parts, Kits and Accessories section), the wiring must respect the figure below and subsequent directions. GND / 0V is wired to Sensor pin #1 as stated in the Wiring section. The converter will provide you with a standard USB 2.0 male A connector. Fig. 3.6: Wiring diagram for the RS485 to USB converter Warning Power is not delivered via the USB, do not plug 24V into the USB.

21 3.5.2. Wiring with RS232 to RS485 Converter When using a RS232 to RS485 converter (refer to the Spare Parts, Kits and Accessories section), the wiring must respect the figure below. Warning Do not wire converter pin #3 (5V) on the RS485. The 24V power supply is NOT supplied via the converter. The converted side will provide you with a standard DB - 9 female connector with signaling as shown in the figure below. Fig. 3.7: Wiring diagram for RS232 to RS485 converter.

22 3.6. Calibration Procedure The Sensor outputs the force and moment data according to a reference, i.e. a zero value. In order to compensate for any deviation of this reference, Robotiq provides a new feature which allows the Sensor to automatically compute and compensate the installation offset, the weight of the tool and its center of mass. 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. 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 values measured without the effect of the weight of the tool and the installation offset.

23 3.6.1. Calibration Procedure with Universal Robots Info You need the Universal Robots software package installed first. Please refer to the Installation for Universal Robots section for the package download and installation. 1 From the PolyScope home page, tap Program Robot. 2 Go to the Installation tab and tap FT Sensor in the left pane. The FT Sensor's Dashboard will be displayed. Tap the Cal- ibration tab.

24 3 Tap the Start calibration wizard button to perform the calibration of the FT Sensor. Make sure there are no external forces applied to the Sensor while performing the calibration. 4 Step 1 consists in moving the robot arm so that the FT Sensor's X axis points downward. Tap Continue when the action is done.

25 5 Step 2 consists in moving the robot arm so that the FT Sensor's Y axis points downward. Tap Continue when the action is done 6 Step 3 consists in moving the robot arm so that the FT Sensor's Z axis points downward. Tap Continue when the action is done Info Recalibration is recommended in the event of an error message displaying the incorrect orientation of the FT Sensor during at least one calibration step.

26 Payload/CoG The payload and center of gravity values can be accessed through the Calibration menu in the Installation tab, after the calibration is completed. They include the mass and center of gravity of the Sensor. Caution The mass, payload or center of gravity of anything found under the Sensor (i.e. tool changer) will not be taken into account in the calculation of the payload. Warning Make sure to save the installation file after performing the calibration. Saving will record the calibration date and estimate tool parameters.

27 3.6.2. Calibration Procedure for the Visual Demo Software (PC) Info You need the Visual Demo Software installed first. Please refer to the Visual Demo Software section for download and installation. To calibrate your FT Sensor: 1 Go to the "Tool Calibration" tab and follow the instructions. 2  Once completed, go to the "Sensor Data" tab.

28 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 the figure below. 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 Sensor is functional, no communication detected Red blinking FT 300 Sensor fault detected Blue on FT 300 Sensor is functional, communication established Fig. 3.8: FT Sensor status LED.

29 3.8. Installation for Universal Robots The table below shows which Robotiq software to use with your version of Universal Robots’ controller. If you are using a CB3 or CB3.1 controller, it is recommended to use the Force Torque Sensor URCaps Package. Robotiq Software Universal Robots' controller version CB1 CB2 CB3 CB3.1 Legacy Driver Package (DFU-1.1.15) (includes Gripper toolbar) Incompatible Compatible Compatible Compatible ActiveDrive Toolbar (ADU-1.0.1) Incompatible Compatible Compatible Compatible FT 300 Force Torque Sensor URCaps Package up to 1.1.1 (includes ActiveDrive toolbar) Incompatible Incompatible Compatible Compatible FT 300 Force Torque Sensor URCaps Package 1.2 (includes ActiveDrive toolbar) Incompatible Incompatible Incompatible Compatible Refer to the appropriate section depending on your controller version: l The URCap Package section covers the installation of the Force Torque Sensor URCaps Package. l The UR Package without URCaps section goes through the software installation procedures when not using URCaps. Info The robot's PolyScope version must be 3.3 and higher in order to install the URCap. Prior to any software installation, connect the white, green and bare wires to the Robotiq RS-485 signal converter (ACC-ADT- RS485-USB) as shown in the figure below. Also connect the red (24V) and black (0V) wires in the controller according to the figure below. Fig. 3.9: Force Torque Sensor wiring to Universal Robots’ controller.

30 Info Prior to use over Universal Robots, adjust the payload and the center of gravity from the Installation tab (refer to the Moment of Inertia and Center of Mass section). 3.8.1. URCap Package Info The robot's PolyScope version must be 3.3 and higher in order to install the URCap. Installation Follow this procedure to install the Force Torque Sensor URCap Package l Make sure that your PolyScope version is up-to-date and that your Universal Robots controller is compatible with the Force Torque Sensor URCap package. Refer to the Control with Universal Robots section for the UR controller compatibility. l Go to support.robotiq.com and click on the product page of the FT 300 Sensor. l Download the Robotiq_Force_Torque_Sensor-X.X.X.urcap file on a blank USB stick. l Insert the USB stick in the UR teach pendant or controller. l Go to Setup Robot. l Tap URCaps Setup. Tip Go to the PolyScope home page and tap the About button. A window containing the Universal Robots software version will pop up.

31 l Tap the plus button (+) to add the Sensor’s URCaps package. l Open Robotiq_Force_Torque_Sensor-X.X.X.urcap. l Restart PolyScope to complete the URCap installation.By doing so, you accept the License Agreement that is detailed inthe URCap Inform- ation text box (see below for the License Agreement). l When PolyScope reopens, the ActiveDrive toolbar will appear on the screen. If the Force Torque Sensor is mounted on the robot for the first time, the calibration must be performed. Refer to the Calibration Procedure with Universal Robots section for the calibration procedure. Warning The sensor must be recalibrated 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.

32 Firmware upgrade A firmware upgrade my be necessary when updating the Sensor URCap. From the PolyScope home page, go to Program Robot and tap the Installation tab. Select FT Sensor in the left pane and tap the Dashboard button. If an upgrade is needed, the Upgrade firmware button will display. Tap the button and wait for the upgrade to be completed. Warning Do not disconnect the Sensor during firmware upgrade. l Tap Upgrade firmware Wait while the software is upgraded.

33 Uninstalling the URCaps Package If you wish to uninstall the Force Torque Sensor URCap, follow this procedure: l Go to Setup Robot. l Tap URCaps Setup. l In the Active URCaps text box, tap the Force Torque Sensor URCap. l The Sensor URCap should be highlighted. l Tap the minus button (-) to uninstall the URCap. l Restart PolyScope to complete the uninstallation process.

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36 event comes first. Upon termination of this Agreement for any reason, the End-User shall promptly uninstall the Software on any UR’s Products and Licensor’s Products, computer, or server on which it has been installed, deliver to the Licensor all CDs, DVDs, magnetic tapes, cards, and other tangible items and materials embodying the Software, and return to the Licensor all copies thereof or destroy such copies and warrant in writing that all copies thereof have been destroyed. In the event of ter- mination of this Agreement, all obligations of the parties under this Agreement due for performance on the date of ter- mination shall survive the termination, and the party terminating shall not be liable to the other party for any damages arising out of the termination. 13. Miscellaneous. 1. This Agreement constitutes the entire understanding and agreement between the Licensor and the End-User and replaces any prior agreement relating to the same subject matter. 2. This Agreement shall be governed and construed in accordance with the laws of the province of Quebec and the federal laws of Canada applicable therein. Any legal action or proceeding between the Licensor and the End-User for any purpose concerning this Agreement or the parties' obligations hereunder shall be brought exclusively in a court of competent jurisdiction sitting in the judicial district of Trois-Rivières, Quebec. 3. The Licensor’s failure to insist upon or enforce strict performance of any provision of this Agreement shall not be construed as a waiver of any provision or right. Neither the course of conduct between the parties nor trade practice shall act to modify any provision of this Agreement. 4. The Licensor may assign its rights and duties under this Agreement to any party at any time without notice to the End-User. The End-User may not assign this Agreement without the prior written consent of the Licensor. 5. If any part of this Agreement is null, illegal or non-enforceable, this Agreement shall be interpreted as if this part was never part of this Agreement. 6. The provisions of this Agreement are for the benefit of the Licensor and its officers, directors, employees, agents, licensors and suppliers. Each of these individuals or entities shall have the right to assert and enforce those pro- visions directly against the End-User on its own behalf. This Agreement is also for the benefit of, and binds, the End-User and its heirs, successors, legal representatives and permitted assigns. 7. Any rights not expressly granted herein are reserved. 8. The parties confirm that they have agreed that this Agreement and all related documents be drafted in English only. Les parties aux présentes confirment qu’elles ont accepté que la présente convention et tous les documents y afférents soient rédigés en anglais seulement.

37 3.8.2. UR Package without URCaps If your Universal Robots controller is not compatible with the URCaps package (refer to the Installation for Universal Robots section for compatibility), you can install the driver package and ActiveDrive Toolbar separately. The driver package contains templates to access the Sensor’s force and torque values. The ActiveDrive Toolbar allows to easily move the robot by hand guiding it. This section applies to Robotiq’s software installation when not using URCaps. Info The driver package and the ActiveDrive toolbar have separate installation processes. The driver package is independant from the ActiveDrive toolbar, but has to be installed beforehand if you wish to install the ActiveDrive toolbar. Driver Package Installation Info The URCap package contains the driver package. Therefore, installing the URCap package also installs the driver package. If you have installed the URCap, you do not need to install the driver package. This section applies to Robotiq’s software installation when not using the URCap. If you wish to install the URCap package, refer to the URCap Package section. Caution Make sure your PolyScope version is up-to-date and that your controller is compatible with the driver package for UR (refer to the Installation for Universal Robots section for controller compatibility). To view your PolyScope version, go to the home page of the teach pendant and tap the About button. A window containing the Universal Robots software version will pop up. To install the driver package, follow this procedure: 1 Download the Robotiq Force Torque Sensor software driver package (DFU-X.X.X) from the Documentation Archives. 2 Extract the content of the .zip file on a blank USB flash drive. 3 Plug the flash drive into the robot controller or teach pendant. 4 Installation is automatic. The pendant screen will show installation status. Do not unplug the flash drive until the operation is completed. 5 When a green "USB" text is shown, unplug the USB drive. Calibration If the Force Torque Sensor is mounted on the robot for the first time, calibration must be performed. Refer to the Calibration Procedure section for details. Warning The Sensor must be 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.

38 Testing the software package l In PolyScope, load the program test_sensor.urp located in the Sensor folder and execute it. The program will display pop-ups with the following information: Sensor firmware version, production year and serial number. The force and torque readings for Fx, Fy, Fz, Mx, My and Mz are displayed in the Variables tab. Info To get detailed information on how to program in PolyScope using the Force Torque Sensor signals, refer to the Using the force and torque values section. Removing the Package 1 Locate the uninstall.sh file provided in the driver package. 2 Copy the file on a blank USB stick. 3 Rename the file to urmagic_uninstall.sh. 4 Plug the USB stick into the UR controller or teach pendant. 5 Uninstallation is automatic.

39 ActiveDrive Toolbar Installation Tip Prior to installing the ActiveDrive toolbar, the Sensor Driver package should be installed. Info The URCaps package contains the ActiveDrive Toolbar. Therefore, installing the URCap package also installs the toolbar. If you have installed the URCap, you do not need to install the ActiveDrive Toolbar. This section applies to Robotiq’s software installation when not using the URCap. If you wish to install the URCap package, refer to the URCap Package section. Tip Make sure your PolyScope version is up-to-date and that your controller is compatible with the driver package for UR (refer to the Installation for Universal Robots section for controller compatibility). To view your PolyScope version, go to the home page of the teach pendant and tap the About button. A window containing the Universal Robots software version will pop up. Warning Verify that the Force Torque Sensor is aligned with the robot arm using the dowel pin, or at least make sure the holes are aligned. This ensures that the Sensor’s axes are aligned with the robot’s and that the ActiveDrive will work correctly. To install the ActiveDrive toolbar : 1 Visit support.robotiq.com and download the latest ActiveDrive toolbar installer (ADU-X.X.X) in the Documentation Archives section. 2 Extract the files on a blank USB stick. 3 Connect the USB stick in the Universal Robots’ teach pendant or controller. 4 Installation is automatic. The pendant’s screen will show installation status. 5 Do not remove the USB stick before the installation is completed. 6 Once the installation is completed, the ActiveDrive Toolbar button will appear on the teach pendant’s screen after a short delay. Info To get detailed information on how to use the ActiveDrive Toolbar, refer to the ActiveDrive Toolbar section.

get data from the FT 300 Force Torque Sensor. l Section 4.1 and subsections refers to the control and programmation for Universal Robots. 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 links to ROS. l Section 4.4 explains the Demo Software l Section 4.5 will detail the use of serial communication in generic applications FT 300 Force Torque Sensor - Instruction Manual 40

41 4.1. Control with Universal Robots The URCap Package contains many features to program and control the robot’s arm using the Sensor’s force and torque readings. The package provides: l ActiveDrive toolbar; l Path recording node; l Driver package.

42 4.1.1. ActiveDrive Toolbar The ActiveDrive Toolbar is automatically installed with the Force Torque Sensor URCap Package. It enhances the guiding mode on Universal Robots by allowing the robot to be hand guided smoothly and easily towards a waypoint. The ActiveDrive feature is a great way to assist the Path recording described in the Path Recording section, by hand guiding the robot while recording a path. Info The Force Torque Sensor URCap Package contains the ActiveDrive Toolbar. Therefore, the toolbar is automatically installed with the URCap Package. The ActiveDrive Toolbar can be installed and used without the URCap Package (refer to the UR Package without URCaps section for information on how to install the toolbar without the URCap). Warning Verify that the Force Torque Sensor is aligned with the robot arm using the dowel pin. This ensures that the Sensor’s axes are aligned with the robot and that the ActiveDrive feature will work correctly. The robot speed set with the Speed slider will affect the speed at which the robot moves in the ActiveDrive mode. Verify and adjust the speed slider to the desired speed. It has to be greater than 50%. Overview Toolbar collapsed Tap the ActiveDrive button to expand the toolbar. Toolbar expanded Tap the mode selector to expand. ActiveDrive modes expanded

43 Features Primary icon Functionality name Description ActiveDrive Tap to toggle between the expanded and collapsed ActiveDrive Toolbar. When grey, the functionality is not available. Tap the button to see why it is not available. Start / Stop Tap to start or stop ActiveDrive. ActiveDrive will automatically turn off after 30s of inactivity. When started, ActiveDrive allows you to move the robot freely by applying forces on robot’s end-effector. This is different from the Free Drive feature on the robot, where you can 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 restrain the robot to specific movements. Free Free motion: all translations and rotations are allowed. 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 (resets the Sensor’s offset).

44 Primary icon Functionality name Description Speed Motion speed control is toggled between fast and slow, allowing precise movement in slow motion. The Force Torque Sensor will switch to slow speed automatically whenever high forces are detected, for example, during an impact with an object. Square robot Aligns the tool center point (TCP) orientation with the robot base. Tap and hold this button to automatically move the end-effector to the closest orthogonal orientation of the base axis system (just try it, you will see!).

45 Error Messages Overview The ActiveDrive Toolbar will be automatically collapsed and be grayed whenever one of the following situations occurs. In such cases, by tapping the ActiveDrive button, the following messages will appear: l Message: l Solution: l Starting ActiveDrive while an excessive force is applied to the tool: l Determine if an external force is applied to the end-effector. If it is the case, tap OK and move the robot away from the obstacle (with Free Drive or Move tab), or remove any external forces and start ActiveDrive again. l If no external forces are applied, tap Zero Sensor. l Message: l Solution: l Force Torque Sensor is detected: Check the Force Torque Sensor’s connection. Make sure the USB adapter and all the wires are connected. Also, verify the Sensor’s LED status (refer to the Status LED section). l Message: l Solution: l The robot is not initialized: Tap OK and go to PolyScope’s home page. Tap Setup Robot and go to Initialize Robot to start the robot.

46 l Message: l Solution: l A program is already running: The ActiveDrive Toolbar cannot be used while a program is running. Stop the program to enable the ActiveDrive feature. l Message: l Solution: l The speed setting of the robot is lower than 50%: The robot’s speed setting should be greater than 50%. Modify the speed setting in the robot program using the slider. l Message: l Solution: l If the Freedrive button is pressed: The ActiveDrive mode cannot be used when the Free Drive mode is ON. Make sure you are not pressing on the teach pendant’s Teach button when trying to use the ActiveDrive toolbar.

47 4.1.2. Using the force and torque values Force Torque Sensor functions are made available in the Universal Robots functions drop-down menu. l The rq_zero_sensor function can be called at any point in a robot program to zero the force and torque values of the Force Torque Sensor. l The get_sensor_ functions allow the user to assign the sensor values to any variable.

48 Info Although displayed in real time in the Variables tab, the force and torque values can be seen in the FT Sensor Dashboard. After the calibration has been completed, go to the FT 300 Dashboard to monitor the force and torque values in real time. Prior to using the FT Sensor's data in the framework of a robot program, it is recommended to zero the sensor using the Zero sensor button.

49 4.1.3. Path Recording The Force Torque Sensor URCap Package adds a Path feature in PolyScope which can be used to record paths directly by moving the robot. The ActiveDrive Toolbar is a great tool to use while recording a path, as it is an easy way to hand guide the robot’s end- effector. Path recording can be used for specific processes requiring complex paths (polishing, gluing, etc.) or more generally for any useful case that would require programming a high number of waypoints. The Path node offers options to modify the recorded path to change its speed and play the path backwards or relative to a variable start position. How to add and record a path l Tap Program Robot l Open an empty program or load a template. l Go to the Structure tab. l Go to the URCaps tab. l Tap the Path button.

50 l Go to the Command tab to record and edit a path. l The BeforeStart node is used to execute preliminary operations before the parent program node. l In some instances, the parent node requires a processing time before starting. l To prevent delays, operations found under the BeforeStart node will be executed as soon as the parent node is ready to start. l A placeholder Comment node can be found within the BeforeStart node. You can either rename it or replace it with another program node. Deleting it will prevent you from using the parent node.

51 Overview Path time and speed information. Warning message is displayed whenever a setting results in a duration different than the original path duration. Path recording and visualization. Path speed slider. Path options. Warning section. Displayed whenever a setting results in a duration different than the original path duration.

52 When a Path node is empty (no path recorded), the only available button is the record button. While recording a path, the only available button is the stop button. When the speed of the original recording is modified using the speed slider, a warning message appears and the path time and speed information is updated. When a path option is selected, a warning messages appears and the path time and speed information is updated.

53 Features* Primary icon Functionality name Description Start/Stop recording Starts and stops the path recording. Navigate to path’s start Press and hold in order to move the robot at the path’s start. Navigate to path’s end Press and hold in order to move the robot at the path’s end. Play path Press and hold in order to move the robot to the path’s start and play the path as it will be executed in the program. Enable constant speed If selected, the path is modified to play at a constant tool speed (linear speed at the tool center point) defined by the Path speed slider’s position. With this option, all pauses and hesitations (dead times) in the path will be removed. Enable reverse path If selected, the recorded path will be played backwards in the program. It can be useful if a path is copied and played backwards, resulting in a path played back and forth. Enable relative path If selected, the path will be played relative to the current robot position when the program enters the path instruction. This effectively offsets all the recorded path and can be used to: l correct a path (for example adding a vertical distance on the whole path); l accommodate a variable object position (for example when the object is located by a visionsystem).

54 Primary icon Functionality name Description Decrease/Increase path speed Motion speed control is toggled between fast and slow, allowing precise movement in slow motion. The Force Torque Sensor will switch to slow speed automatically whenever high forces are detected, for example, during an impact with an object. Path speed warning “Warning! Selected options change the speed of the original path recording.” Displayed whenever a setting results in a duration different than the original path duration. * When an icon is greyed, it means it is unavailable. If you tap the record button when a path is already recorded in a node, a warning pop-up window will ask if you want to overwrite the path (tap OK) or keep the previously recorded path (tap Cancel).

55 Custom Programs You can create your own program using the Force Torque Sensor signals by following this procedure : l In the list of provided samples, open template_sensor.urp. l Push Play and check the Variables tab. l You will see Sensor variables Fx, Fy, Fz, Mx, My, Mz. l You can verify the readings by applying force to the Sensor and observe the response. l Add your instructions in the robot program section. l For example, you can command the robot to move until you read a certain threshold of force. l The program instructions (robot motion, logic, etc.) can be added after the accessor_capt script line and you can start build- ing the program as it is normally done with PolyScope. Info The Sensor’s data returns 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 values being in newtons (N) and moment values being in newton-metres (Nm). The variables are updated automatically by the Sensor thread. Info The recorded path duration cannot exceed 10 minutes. Info With the constant speed option selected, the calculation of a slowed down path that would last over 2 hours will generate an error.

56 4.1.4. Using the Force Torque Sensor's Data in Force Nodes In order to use the FT Sensor's data in Force control mode for all Force nodes, go to the Configuration tab and check the corresponding box. This will feed the Sensor's force values to the UR Force mode as an alternative to UR's embedded force feedback.

57 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,

58 STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

59 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 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.

60 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. 4.10: 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 can be provided for the integration of the provided source code into a custom application.

61 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. 4.11: Sensor Data Acquisition Under Windows.

62 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 can be provided for the integration of the provided source code into a custom application.

63 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 Calibration Procedure for the Visual Demo Software (PC) section 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. 7 Launch the demo application.

64 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.

65 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. 4.4.1. Modbus RTU The Modbus RTU serial communication configuration parameters are: Parameter Value Baudrate (bps) 19200 Data bits 8 Stop bit 1 Party none Slave ID 9

66 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

67 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. For a setup over Universal Robots, Data stream will be accessible on TCP port 63351 of your machine. Tip With a Universal Robot, you can access the data stream using the documentation available at UR : Remote Control Via TCP/IP - 16496 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).

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. 5.12: Robotiq FT 300 Sensor general technical dimensions. Info Reminder: Measures are in millimeters. FT 300 Force Torque Sensor - Instruction Manual 68

69 5.1.1. Tool Side Bolt Pattern The figure below illustrates the bolt pattern used for tool fixation on the FT 300 Sensor. l Bolt pattern diameter is 50 mm l Mounting holes are M6 thread, 6 mm deep. l Indexing hole for M6 dowel pin has a tight fit (H7) and 6 mm deep. l 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. Fig. 5.13: FT 300 Sensor tool side bolt pattern.

70 5.2. Mechanical Specifications Info Reminder: all units are within the metric measurement system. SPECIFICATION VALUE Approximate weight 300 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 75 mm Through-hole diameter N/A Thickness 37.5 mm IP rating 431 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 1Expected rating, certification is planned and will be forthcoming (see manual revision date).

71 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 figure below. 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: Sensor Combination x (mm) y (mm) z (mm) Mass (g) FT 300 - 0 0 17 300 2-Finger 85 0 0 76 1205 2-Finger 140 0 0 83 1275 Wrist Camera 0 2 30 530 Wrist Camera and 2-Finger 85 0 1 77 1275 Wrist Camera and 2-Finger 140 0 1 85 1340 Here is the approximate moment of inertia matrix for the FT Sensor, taken at the coordinate system origin: Fig. 5.14: Moment of inertia of the FT 300 Sensor.

72 5.2.2. Overload Capacity The FT 300 sensors have overload capacities, the overload capacity specification includes load and torque values in all 3 axes. Info For loads between the measuring range and the overload capacity, the signal will be saturated. The sensor will not undergo permanent damage if the overload capacity is not reached. Warning Exceeding the overload capacity will permanently damage the sensor. Sensor Measuring range Overload capacity1 FT 300 +/- 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 Fx/300 + Fy/300 + Fz/300 + Mx/30 + My/30 + Mz/30 < 500%

73 5.3. Signal Specifications SPECIFICATION FT 300 (prior to 10/2017) FT 300 Measuring range Force ±300 N Torque ± 30 Nm Signal noise* Fx, Fy 1.2 N 0.1 N Fz 0.5 N 0.1 N Mx, My 0.02 Nm 0.005 Nm Mz 0.03 Nm 0.003 Nm Recommended threshold Fx, Fy 5 N 1 N Fz 2 N 1 N Mx, My 0.08 Nm 0.02 Nm Mz 0.12 Nm 0.01 Nm External noise sensitivity** Immune Data output rate 100 Hz Temperature compensation*** 15 to 35 °C *Signal noise is the standard deviation of the signal measured over a period of one (1) second **Under normal operating conditions ***Within this range, the temperature fluctuation is compensated for; signal quality may be affected outside of this range

74 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. is greater than the Sensor's resolution, thus it For the FT 300, the signal noise defined in the signal specifications is the standard deviation of each data (Fx, Fy, Fz, Mx, My, Mz) over 1 second. In order to use that signal noise information, three times the standard deviation given must be used. 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.

75 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

76 5.5. Couplings For a detailed list of available couplings and adapter plates, please refer to the Spare Parts, Kits and Accessories section. The following subsections contain data required for custom couplings or creating couplings from blanks. Info All Robotiq couplings and adapter plates are provided with necessary hardware for fixation on the Robotiq device side. Caution Unless identified for specific packages only, robot side screws and indexing pins are not provided.

77 5.5.1. Blank Coupling The figure below schematics represent the optional blank coupling for the FT 300 Sensor : l (7) M4 threads and the 63 mm (H8) circle are meant to affix the FT 300. l The circular section of 75 mm diameter (blue section in the figure below) 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. l Spare part list number is FTS-300-CPL-BLANK. l Fig. 5.15: Technical dimensions of the blank coupling for the FT 300.

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 Force 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 Force Torque Sensor - Instruction Manual 78

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. Item Description Ordering Number Standard Kit Robotiq Force Torque Sensor FT, includes cable and USB converter. FTS-300-KIT-001 Kit for Universal Robots Standard Sensor with Couplings for Universal Robots and software package. FTS-300-UR-KIT Sensor Replacement sensor, sensor alone. FTS-300-SEN-001 Blank coupling Blank coupling with FT bolt pattern on one side and the other side clear. FTS-300-CPL-BLANK Coupling 50-4M6-1D6 Coupling for 50 mm PCD1 (4) M6 thread and (1) 6 mm M6 indexing pin. To be used on UR robots. FTS-300-CPL-062 Coupling 39-8M3-1D3 Coupling for 39 mm PCD1 (8) M3 thread and (1) 3 mm indexing pin. FTS-300-CPL-069 Coupling 40-4M6-1D6 Coupling for 40 mm PCD1 (4) M6 thread and (1) 6 mm M6 indexing pin. FTS-300-CPL-064 Coupling 31_5-4M5-1D5 Coupling for 31.5 mm PCD1 (4) M5 thread and (1) 5 mm M6 indexing pin. FTS-300-CPL-063 Robotiq Device Cable 5 or 10 m cable for power and communication with the FT Sensor CBL-COM-2067-10 1Pitch Circle Diameter FT 300 Force Torque Sensor - Instruction Manual 79

8.1. General troubleshooting 8.1.1. An offset has appeared 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 is functional l Verify that the Sensor is connected according to the Installation section of this manual. l When powered, verify that the LED on the Sensor is blue (not red/blue).FT 300 LED is red if powered without communication, blue if powered with communication. For detailed information on the LED status, refer to the Status LED section. 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 Force Torque Sensor - Instruction Manual 80

81 8.2. Troubleshooting on Universal Robots 8.2.1. ActiveDrive Toolbar troubleshooting – Error messages overview The ActiveDrive Toolbar will be automatically collapsed and be greyed whenever one of the following situations occurs. In such cases, by tapping the ActiveDrive button, the following messages will appear: l Message: l Solution: l Starting ActiveDrive while an excessive force is applied to the tool: l Determine if an external force is applied to the end-effector. If it is the case, tap OK and move the robot away from the obstacle (with Free Drive or Move tab), or remove any external forces and start ActiveDrive again. l If no external forces are applied, tap Zero Sensor. l Message: l Solution: l  Force Torque Sensor is detected: Check the Force Torque Sensor’s connection. Make sure the USB adapter and all the wires are well connected. Also verify the Sensor’s LED status (refer to the Status LED section). l Message: l Solution: l The robot is not initialized: Tap OK and go to PolyScope’s home page. Tap Setup Robot and go to Initialize Robot to start the robot.

82 l Message: l Solution: l  A program is already running: The ActiveDrive Toolbar cannot be used while a program is running. Stop the program to enable the ActiveDrive feature. l Message: l Solution: l  The speed setting of the robot is lower than 50%: The robot’s speed setting should be greater than 50%. Modify the speed setting in the robot’s program with the slider. l Message: l Solution: l If the Freedrive button is pressed: The ActiveDrive mode cannot be used when the Free Drive mode is on. Make sure you are not pressing on the teach pendant’s Teach button when trying to use the ActiveDrive toolbar.

83 8.3. Troubleshooting on other platforms 8.3.1. USB converter detected as a 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. 8.3.2. 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 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 con- nectivity issues may arise), then click OK. 8.3.3. 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

84 8.3.4. Monitoring the Sensor state In order to view the Sensor status and verify the force and torque values: l Go to Program Robot l Go to the Installation tab l Tap FT Sensor in the left pane l Tap the Dashboard button Info If needed, the user can tap the About button to get further information regarding the FT Sensor.

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 Conditions section 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. FT 300 Force Torque Sensor - Instruction Manual 85

86 9.1. Exclusions Robotiq reserves the right to make changes in the design or construction of any of its products at any time without incurring an obligation to make any changes whatsoever on units already purchased. This warranty excludes failure resulting from: improper use or installation, normal wear and tear, accident, abuse, neglect, fire, water, lightning or other acts of nature, causes external to the product or other factors beyond Robotiq's control.

Fax 1-418-800-0046 Technical Support Option 3 Sales Option 2 Head Office Robotiq 966, chemin Olivier Suite 500 Lévis, Québec G7A 2N1 Canada Where automation Pros come to share their know-how and get answers. dof.robotiq.com FT 300 Force Torque Sensor - Instruction Manual 87

FT 300 Force Torque Sensor - Instruction Manual 89

90 Appendix B – Applied Standards This section describes all applied harmonized standards for the design and production of the Robotiq Force Torque Sensor FT 300. Standards are applied were applicable, some points may not be applied if not applicable to this specific product. Conformity is not enforced by any laws, it is self-applied and the aim is to define normal safety and performance requirements for similar products. 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: NF EN ISO 12100 2010 Safety of machinery — General principles for design — Risk assessment and risk reduction NF EN IEC 60204- 1 2006 Safety of machinery — Electrical equipment of machines — Part 1: General requirements