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ATI: F/T System Interfaces (Net F/T)
The Network Force/Torque (Net F/T) sensor system measures six components of force and torque (Fx, Fy, Fz, Tx, Ty, Tz). The Net F/T provides EtherNet/IP and CAN bus communication interface and is compatible with standard Ethernet. The Net F/T system is available with any of our transducer models. The Net F/T's web browser interface allows for easy configuration and set up via the Ethernet connection present on all NetBox models. A PROFINET interface is also available as an option. Also available as an OEM interface option, the Net CAN OEM was designed to be integrated into small robot arms. The Net CAN OEM offers a CAN Bus and an RS-485 serial interface to communicate with a host computer, which performs the necessary calculations using ATI supplied code. Product Features
Fully ODVA™-compliant EtherNet/IP interface.
Environmental sealing is available. The Net F/T interface (Net Box) is sealed to IP65 (water splash-proof), most Net F/T transducers and cables can be sealed to IP68 (submersibility in fresh water, to a depth of 10 meters).
Powered by Power over Ethernet (PoE) or by an external power supply (11VDC to 24VDC).
Multiple transducer calibrations can be permanently stored in the system and can be selected by the user.
Product Advantages
Multiple Interfaces: Ethernet, EtherNet/IP and CAN bus, to support a wide range of automation and research applications. A PROFINET interface is also available as an option.
LAN Connectivity: The Net F/T can be easily connected to your Local Area Network (LAN) allowing for easy remote operation and monitoring.
High-speed output: Output rates up to 7000 Hz for six axes of measurement over Ethernet (using UDP).
Web-based Configuration and Demo: The Net F/T is configurable via a web interface, allowing the user to view and change system settings using a web browser. An easily accessible Java™ demonstration application provides a graphical view of six-axis measurements in real time.
Programmable Thresholding: Allows monitoring of force and torque conditions via a relay output or status bits to allow immediate action in case of critical process conditions.
Built-in Status Indicators: LEDs in the Net Box alert the user to connection and load saturation status.
Overload protection: The F/T transducer is extremely rugged and durable. The transducer’s factor of safety can be as high as 4080%, depending on model and calibration.
Tool Transformations: Tool transformations can be used to translate and rotate the F/T point of origin to make measurements relative to the work at hand.
Temperature Compensation: Each F/T transducer features hardware temperature compensation to stabilize its sensitivity over temperature. This compensation method optimizes the transducer’s accuracy over a range approximately ±25ºC from room temperature.
High signal-to-noise ratio: Silicon strain gages provide a signal 75-times stronger than conventional foil gages, reducing the need for noise-increasing gain.
User Interface Overview
Sensor system setup and status monitoring can be done through the status LEDs and DIP switches or via an Internet browser. Advanced functions and the demonstration application are also available via a browser.Specifications
Output Format: Std. mode (Fieldbus or Ethernet), RDT mode (Ethernet only)
Maximum Output Rate: 7000 Hz
Latency: 500 μs ‡, 288 μs ‡
Filtering Options: 5 Hz to 838 Hz, digital filtering
Anti-Aliasing Filtering: 2nd order @ 1000 Hz
Thresholding Discrete I/O: None. One-bit output. The standard mechanical relay has 6 ms latency. The optional solid-state relay has 500 μs latency.
Summary
Computer programming required to access data on network. Streaming outputs rates are accurate to ±0.5%.
Synchronization Method
Data coming over Ethernet UDP protocol contain sample-count index fields. Data can get synchronized programmatically.
Data packets can get requested individually. The requesting software controls the acquisition time and can synchronize F/T data with other data sources.
Data coming over CAN bus are synchronized with other data acquisition systems on the same network.
Latency
Latency between actual event and Ethernet output is 288 μs (using the RDT UDP protocol). Note that the latency between a UDP data request and the actual data output can be up to 5 ms.