commissioning instructions ftd

Translation of original commissioning instructions

Commissioning instructionsFTDForce-torque sensor system

Imprint

2 02.00 | FTD | Commissioning instructions | en | 389627

ImprintCopyright:This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rightsreserved.

Technical changes:We reserve the right to make alterations for the purpose of technical improvement.

Document number: 389627

Version: 02.00 | 29/07/2021 | en

Dear Customer,thank you for trusting our products and our family-owned company, the leadingtechnology supplier of robots and production machines.Our team is always available to answer any questions on this product and other solutions.Ask us questions and challenge us. We will find a solution!Best regards,Your SCHUNK team

Customer ManagementTel. +49-7133-103-2503Fax [email protected]

Please read the operating manual in full and keep it close to the product.

Table of Contents

Table of Contents1 General.................................................................................................................... 5

1.1 About this manual ................................................................................................ 51.1.1 Presentation of Warning Labels ............................................................... 51.1.2 Applicable documents .............................................................................. 61.1.3 Variants..................................................................................................... 6

1.2 Warranty .............................................................................................................. 61.3 Scope of delivery .................................................................................................. 6

2 Basic safety notes ................................................................................................... 72.1 Intended use......................................................................................................... 72.2 Inappropriate use ................................................................................................. 72.3 Constructional changes ........................................................................................ 72.4 Spare parts ........................................................................................................... 72.5 Personnel qualification......................................................................................... 72.6 Disposal ................................................................................................................ 82.7 Notes on particular risks....................................................................................... 8

3 Technical data.......................................................................................................... 93.1 Ambient conditions and operating conditions ..................................................... 93.2 Force-torque sensor ............................................................................................. 93.3 Calculating the forces and moments.................................................................. 10

4 Design and description............................................................................................ 124.1 Design ................................................................................................................. 124.2 Description ......................................................................................................... 17

5 Assembly and installation ....................................................................................... 185.1 Installing and connecting.................................................................................... 185.2 Electrical connection .......................................................................................... 19

5.2.1 Force-torque sensor ............................................................................... 265.2.2 PS / IFPS box ........................................................................................... 285.2.3 IFPSMC box............................................................................................. 34

5.3 Installing the software........................................................................................ 39

6 Operation ............................................................................................................... 416.1 Available software interfaces and demo programs............................................ 416.2 Manual calculations............................................................................................ 426.3 Creating your own application ........................................................................... 42

7 Troubleshooting ..................................................................................................... 437.1 Saturation ........................................................................................................... 437.2 Signal noise......................................................................................................... 437.3 Measurement data deviation / drift................................................................... 437.4 Hysteresis ........................................................................................................... 43

8 Maintenance .......................................................................................................... 44

302.00 | FTD | Commissioning instructions | en | 389627

Table of Contents

9 EU Declaration of Conformity ................................................................................. 45

10 Appendix to the declaration of conformity ............................................................. 46

11 Appendix ................................................................................................................ 50


General

1 General

1.1 About this manualThis manual contains important information for a safe andappropriate use of the product.This manual is an integral part of the product and must be keptaccessible for the personnel at all times.Before starting work, the personnel must have read andunderstood this operating manual. Prerequisite for safe working isthe observance of all safety instructions in this manual.Illustrations in this manual are provided for basic understandingand may differ from the actual product design.In addition to these instructions, the documents listed underApplicable documents [} 6] are applicable.

1.1.1 Presentation of Warning LabelsTo make risks clear, the following signal words and symbols areused for safety notes.

DANGERDanger for persons!Non-observance will inevitably cause irreversible injury or death.

WARNINGDangers for persons!Non-observance can lead to irreversible injury and even death.

CAUTIONDangers for persons!Non-observance can cause minor injuries.

CAUTIONMaterial damage!Information about avoiding material damage.


General


1.1.2 Applicable documents• General terms of business *• Catalog data sheet of the purchased product *• Assembly and operating manual of the sensor *• Help files for FTD DAQ software (ATI DAQ F/T software) **The documents marked with an asterisk (*) can be downloaded onour homepage schunk.comThe documents labeled with an asterisk (**) can be downloadedfrom schunk.com/ft-downloads.

1.1.3 VariantsThis operating manual applies to the following variations:• Force-torque sensor system FTD with USB data acquisition

(DAQ) card for one force/torque sensor• Force-torque sensor system FTD with USB data acquisition card

for up to six force/torque sensors• Force-torque sensor system FTD with PCI data acquisition card

for one force/torque sensor• Force-torque sensor system FTD with PCI data acquisition card

for up to six force/torque sensors• Force-torque sensor system FTD with terminal block with BNC

inputs for one force/torque sensor

1.2 WarrantyIf the product is used as intended, the warranty is valid for 12months from the ex-works delivery date under the followingconditions:• Observe the ambient conditions and operating conditionsParts touching the workpiece and wear parts are not included inthe warranty.

1.3 Scope of deliveryThe scope of delivery includes• Force-torque sensor system FTD in the ordered model• Force-torque sensor FT with sensor cable• DAQ cable• PS box, IFPS box or IFPSMC box• Commissioning instructions• Assembly and operating manual force-torque sensor FT• Commissioning CD with calibration certificates• Accessory pack

Basic safety notes

2 Basic safety notes

2.1 Intended useThe product is used to record, convert and evaluate analog outputsignals into electrical signals using a data acquisition card.• Appropriate use of the product includes compliance with all

instructions in this manual.

2.2 Inappropriate useThe product is not a safety component in accordance with the ECMachine Directive 2006/42/EC and must not be used in safety-relevant parts of machine control units.

2.3 Constructional changesImplementation of structural changesBy conversions, changes, and reworking, e.g. additional threads,holes, or safety devices can impair the functioning or safety of theproduct or damage it.• Structural changes should only be made with the written

approval of SCHUNK.

2.4 Spare partsUse of unauthorized spare partsUsing unauthorized spare parts can endanger personnel anddamage the product or cause it to malfunction.• Use only original spare parts or spares authorized by SCHUNK.

2.5 Personnel qualificationInadequate qualifications of the personnelIf the personnel working with the product is not sufficientlyqualified, the result may be serious injuries and significantproperty damage.• All work may only be performed by qualified personnel.• Before working with the product, the personnel must have read

and understood the complete assembly and operating manual.• Observe the national safety regulations and rules and general

safety instructions.


Basic safety notes


2.6 DisposalHandling of disposalThe incorrect handling of disposal may impair the product's safetyand cause serious injuries as well as considerable material andenvironmental harm.• Follow local regulations on dispatching product components for

recycling or proper disposal.

2.7 Notes on particular risks

DANGERDanger from electric voltage!Touching live parts may result in death.• Switch off the power supply before any assembly, adjustment

or maintenance work and secure against being switched onagain.

• Only qualified electricians may perform electrical installations.• Check if de-energized, ground it and hot-wire.• Cover live parts.

Technical data

3 Technical data

3.1 Ambient conditions and operating conditionsAmbient conditions and operating conditions for PS box and IFPS box

Designation PS box / IFPS boxAmbient temperature [°C]during storagemin.max.during operationmin.max.

-3075

060

3.2 Force-torque sensor

NOTEAll forces and torques acting on the sensor must be within thespecified range of measurement. Exceeding the range ofmeasurement will reduce the maximum number of load cyclesand may lead to damage of the sensor.Information on the range of measurement of each individualforce-torque sensor is provided in the catalog data sheet. Thelatest version is always applicable.

Dimensions and max. loads on the force-torque sensor

Detailed information on the mounting, installation andmaintenance of the sensor is provided in the Assembly andOperating Manual for the sensor, Applicable documents [} 6].


Technical data


3.3 Calculating the forces and moments

Force-torquesensor

Amplifier

DAQ dataacquisition card

Signals ofthe straingauges

Opencalibration file

FTxxx.cal

Forces andmoments

Offset correction *

6 analogoutputsignals

Calibration matrix

Copy UserAxis calibration matrixfrom FTxxx.cal and copy it to the

runtime matrix

Open FTxxx.cal and copy theworking matrix into the areahighlighted in blue.Temperature compensation isnormally not required.

Runtime matrix

is executed foreachmeasurement

is only executedat the beginningof ameasurement

(if available)

As a

n al

tern

ativ

e to

the

spec

ified

pro

cedu

re, t

he fi

le

"DAQ

F/T

Man

ual C

alcu

latio

ns.x

ml"

can

also

be

used

toge

nera

te th

e cu

rrent

mat

rix.

Calculating the forces and moments

Technical data

Signalsof thestraingauges

Forces andmoments

Offset correction *

Calibration matrixRuntime matrix

is performedfor eachmeasurement

is onlyperformed at thebeginning of ameasurement

Divide each matrixelement by thecorrection value of theamplifier

Customer-providedamplifier

Determine thecorrection value ofthe amplifier ***

*** Example 1: customer-provided hardware amplifiedby 2 > 1 V becomes 2 V >correction value of theamplifier is 2 ** Example 2:customer-provided hardwareamplified by 0.5 (or weakenedby 2) > 1 V becomes 0.5 V >correction value of theamplifier is 0.5 **

DAQ dataacquisition card

(if available)

Amplifier

Force-torquesensor

6 analogoutputsignals

Open calibration file

FTxxx.cal

Copy UserAxis calibration matrix from FTxxx.cal and copy it to the

runtime matrix

As an alternative to thespecified procedure, the file"DAQ F/T ManualCalculations.xml" can alsobe used to generate thecurrent matrix.

Open FTxxx.cal and copy the working matrix into the areahighlighted in blue. Temperature compensation is normally notrequired.

Calculating the forces and moments when using an amplifier provided by the customer

* Offset correction The offset correction sets the force and moment data to zero inorder to avoid falsifications due to external influences. Withoutoffset correction, for example, the weight of the tool would bemeasured as a force on the sensor. The offset correction setsthis measured weight to zero.

** Correction value ofthe customer-provided amplifier

The correction value of the customer-provided amplifier is onlyrequired if an additional amplifier is used. The factorcompensates for the entire calculation.


Design and description


4 Design and description

4.1 Design

NOTEFor the sake of clarity, the sizes of the force-torque sensors havebeen combined into two size groups in some places in thismanual:• FT Nano and FT Mini• FT Gamma, FT Delta, FT Theta and FT Omega

Force-torque sensor

Top: Force-torque sensor with interface electronics (from gamma and larger) / Bottom: Force-torque sensor with sensor cable (Nano and Mini)

1 Sensor cable connection2 Integrated sensor cable3 Tool side adapter plate4 Robot side adapter plate


Sensor cables

Sensor cables

1 Force-torque sensor connection2 PS box / IFPS box / IFPSMC box connection

IFPS box NOTEThe power supply for the box is either supplied via the 12 V powersupply unit provided or via a 5 V power supply through theconnected DAQ cable of the customer-provided data acquisitioncard. Only one power supply is required; if both are connected,the power supply via the 12 V power supply unit is automaticallyselected.

Power supply box for nano / mini force-torque sensors with integrated sensorelectronics

1 12-pin socket, sensor cable connection2 26-pin connector, DAQ cable connection3 Power supply unit 12 V




PS box NOTEThe power supply for the box is either supplied via the 12 V powersupply unit provided or via a 5 V power supply through theconnected DAQ cable of the customer-provided data acquisitioncard. Only one power supply is required; if both are connected,the power supply via the 12 V power supply unit is automaticallyselected.

Power supply box for force-torque sensors starting from gamma and larger

1 20-pin socket, sensor cable connection2 26-pin connector, DAQ cable connection3 Power supply unit 12 V

DAQ cable

DAQ cable from PS box / IFPS box to customer-provided data acquisition card

1 Unterminated cable ends2 68-pin connector (type D) for customer-provided data

acquisition card3 26-pin connector, PS box / IFPS box connection


IFPSMC box

A = front view / B = rear view

1 68-pin socket, customer-provided connection 12 68-pin socket, connection 1 to data acquisition card3 68-pin socket, connection 0 to data acquisition card4 68-pin socket, customer-provided connection 05 Power supply connection6 20-pin socket, sensor cable connection7 Power supply unit

DAQ cable for IFPSMCbox

DAQ cable from IFPSMC box to customer-provided data acquisition card

1 68-pin connector (VHDCI), customer-provided dataacquisition card connection

2 68-pin connector (type D), customer-provided dataacquisition card connection

3 68-pin connector (type D), IFPSMC box connection




BNC interface box

1 BNC output connection2 Connection for sensor signal input3 Earth4 Power supply

Data collection

1 USB data acquisition (DAQ) device with screw terminalconnections

2 USB data acquisition (DAQ) device3 PCI DAQ card4 PCI DAQ card5 Terminal block with BNC inputs


4.2 DescriptionThe force-torque sensor is connected to the PC by means of acustomer-provided data acquisition card. The six analog outputsignals from the force-torque sensor are converted to digitalsignals by means of the electronics in the data acquisition card.Afterwards, the software (provided by the customer) uses thecalibration matrix to graphically display the occurring forces andtorques on the PC if required.


Assembly and installation


5 Assembly and installation

5.1 Installing and connecting

DANGERDanger from electric voltage!Touching live parts may result in death.• Switch off the power supply before any assembly, adjustment

or maintenance work and secure against being switched onagain.

• Only qualified electricians may perform electrical installations.• Check if de-energized, ground it and hot-wire.• Cover live parts.

CAUTIONRisk of damage to the electronics!A faulty connection can cause damage to the internal electronics.• The supply network must be a network of type "PELV" for

power and logic.• Observe the PIN assignment of the connecting terminals.• Make sure that all components are grounded correctly.

1. Connect components of the force-torque sensor system witheach other, Electrical connection [} 19].

2. Optional: Install the software, Installing the software [} 39].3. Check for functionality.4. Mount the force-torque sensor on the robot, see the

installation and operating instructions for the sensor.


5.2 Electrical connection"PCI DAQ card with one force-torque sensor" variant

Connection shown as an example with theta force-torque sensor

1. Connect data acquisition card (1) to PC.2. Connect DAQ cable (2) to data acquisition card (1).3. Connect the DAQ cable (2) to the power supply box (4) and

tighten the clamping screws on the connector.4. Connect power supply unit 12 V (3) to power supply box (4).5. For FT sensors starting from gamma and larger: Connect

sensor cable (5) to force-torque sensor (6).6. Connect sensor cable (5) to power supply box (4).7. Check for functionality.




"PCI DAQ card for up to six force-torque sensors" variant

Connection shown as an example with Mini58 force-torque sensor

1. Connect data acquisition card (1) to PC.2. Connect DAQ cable (2) to data acquisition card (1).3. Connect DAQ cable (2) to IFPSMC box (4) and tighten screw

terminals on the connectors.4. Connect power supply unit 12 V (3) to IFPSMC box (4).5. For FT sensors starting from gamma and larger: Connect

sensor cable (5) to force-torque sensors (6).6. Connect sensor cable (5) to IFPSMC box (4). The serial number

of the sensor must match the serial number on the connectoron the IFPSMC box.

7. Check for functionality.


"USB data acquisition (DAQ) device with one force-torquesensor" variant


1. Connect USB data acquisition (DAQ) device (2) to PC with theUSB cable (1).

2. Connect DAQ cable (3) to USB data acquisition (DAQ)device (2).

3. Connect DAQ cable (3) to the power supply box (5) and tightenthe clamping screws on the connector.

4. Connect power supply unit 12 V (4) to power supply box (5).5. For FT sensors starting from gamma and larger: Connect





"USB data acquisition (DAQ) device for up to six force-torquesensors" variant


1. Connect USB data acquisition (DAQ) device (3) to PC with theUSB cable (1).

2. Connect power supply unit (2) to USB data acquisition (DAQ)device.

3. Connect DAQ cable (4) to USB data acquisition (DAQ)device (3).

4. Connect DAQ cable (4) to IFPSMC box (5) and tighten screwterminals on the connector.

5. Connect power supply unit 12 V (6) to IFPSMC box (5).6. For FT sensors starting from gamma and larger: Connect

sensor cable (5) to force-torque sensors (6).7. Connect sensor cable (7) to IFPS box (5). The serial number of

the sensor must match the serial number on the socket on theIFPSMC box.

8. Check for functionality.


"Terminal block with BNC inputs with one force-torque sensor"variant

Connection shown as an example with gamma force-torque sensor

1. Connect the terminal block with BNC inputs (1) to the PC.2. Connect the terminal block with BNC inputs (1) to the BNC

interface box (3) with the BNC cable (2).3. Connect the terminal block with BNC inputs (1) to the BNC

interface box (3) with the grounding cable (8).4. Connect the BNC interface box (3) to the power supply box

with the BNC interface box cable (7).5. Connect power supply unit 12 V (4) to power supply box (5).6. For FT sensors starting from gamma and larger: Connect





Connection overviewPin ATI signal Wire strand

Cable betweenPS / IFPS box

and dataacquisition

Designation NISensor connection(gamma & larger)

DAQ cableto PS /

IFPS boxconnector

68-pinconnector

(NI)

32 and64 pins

64 pins

without IP with IP

2 8 +5 Vpower

Red (+5 V) (+5 V)

11 13 0 Vpower

Red / White (DGnd)

(DGnd)

6 1 21 +VANApower

10 4 22 56 AGnd/AIGnd

Black (AIGnd)

(AIGnd)

11 2 23 -VANApower

1 7 9 68 SG0output

Brown (AI 0) (AI 16)

3 8 18 34 SG0reference

Brown / White (AI 8) (AI 24)

7 9 8 33 SG1output

Yellow (AI 1) (AI 17)


Yellow / White (AI 9) (AI 25)

17 11 7 65 SG2output

Green (AI 2) (AI 18)


Green / White (AI 10) (AI 26)

8 13 6 30 SG3output

Blue (AI 3) (AI 19)


Blue / White (AI 11) (AI 27)

13 15 5 26 SG4output

Violet (AI 4) (AI 20)


Violet / White (AI 12) (AI 28)

9 17 4 60 SG5output

Grey (AI 5) (AI 21)


Grey / White (AI 13) (AI 29)

14 19 3 25 T out19 20 12 58 T ref2 5 1 57 reserved


Pin ATI signal Wire strandCable betweenPS / IFPS box

and dataacquisition

Designation NISensor connection(gamma & larger)

DAQ cableto PS /

IFPS boxconnector

68-pinconnector

(NI)

32 and64 pins

64 pins

without IP with IP

16 6 10 23 reserved15 3 19 52 FTD-C-PS-

V68 cablereserved

11 FTD-C-PS-NI cablereserved

Stripping Stripping Stripping Stripping Shielding Shielding(twisted pair)

D Gnd D Gnd




5.2.1 Force-torque sensor

Sensor cable connections

NOTEThe information on force-torque sensor connections only coversforce-torque sensors starting from gamma and larger withintegrated electronics. Customer-provided connections withforce-torque sensors without integrated electronics are notsupported and are therefore not considered in this manual.A force-torque sensor (gamma and larger) without IP protectionclass fits a Hirose HR25-9TP-20S connector, an IP-protected force-torque sensor (gamma and larger) fits a Lemo FGG3K.320connector.

Pin Wire strand SignalSensor

without IPSensor with

IP1 7 Brown SG0 output2 5 Orange reserved3 8 Brown / White SG0 reference4 14 Blue / White SG3 reference5 18 Grey / White SG5 reference6 1 Red +VANA power

input7 9 Yellow SG1 output8 13 Blue SG3 output9 17 Grey SG5 output

10 4 Black AGnd power input11 2 Red / White -VANA power input12 10 Yellow / White SG1 reference13 15 Violet SG4 output14 19 White T out15 3 Black / White reserved16 6 Orange / White reserved17 11 Green SG2 output18 16 Violet / White SG4 reference19 20 White / Black T ref20 12 Green / White SG2 reference

Stripping Stripping Shielding Shield


Electrical specifications and power supplyPS box and IFPS box with connected force-torque sensor

Signal Minimum Normaloperation

Maximum

+12V external power inputsupply voltage [VDC]

8 12 15

+5V power input voltage [VDC] 4.65 5 12+5V power input power [W] 1.6+5V power input current@4VDC [mA]

324

+5V power input current@5VDC [mA]

275


140


120

+5V power input noise [mV p-p] 75+5V power input regulation [%] 0.5

Force-torque sensor with integrated electronics

Signal Minimum Normaloperation

Maximum

+VANA power input voltage [VDC] 13 15 17-VANA power input voltage [VDC] -17 -15 -13+VANA power input current [mA] 50-VANA power input current [mA] -45VANA power input noise [mV p-p] 75VANA power input regulation [%] 0.5




5.2.2 PS / IFPS box

Connections DAQ cable FTD-C-PS-NI-X

26-pin connector, power supply box connection

68-pin connector, customer-provided data acquisition card connection

Pin26-pin

connector

Wire strand Signal Pin68-pin

connector1 Orange Ch7 out 572 Red +5 V power

input8

3 White T out 254 Grey SG5 output 605 Violet SG4 output 286 Blue SG3 output 307 Green SG2 output 658 Yellow SG1 output 339 Brown SG0 output 68

10 Orange / White Ch7 ref 2311 Red / White DGnd 1312 White / Black T ref 5813 Grey / White SG5 reference 2614 Violet / White SG4 reference 6115 Blue / White SG3 reference 6316 Green / White SG2 reference 3117 Yellow / White SG1 reference 6618 Brown / White SG0 reference 3419 Black / White DIO0 1122 Black AIGnd 56

Stripping Shielding Stripping


Connections DAQ cable FTD-C-PS-V68-X

26-pin connector, power supply box connection

V68 connector, customer-provided data acquisition card connection

Pin26-pin

connector

Wire strand Signal PinV68 connector

1 Orange Ch7 out 572 Red +5V power

input8, 14

3 White T out 254 Grey SG5 output 605 Violet SG4 output 286 Blue SG3 output 307 Green SG2 output 658 Yellow SG1 output 339 Brown SG0 output 68

10 Orange / White Ch7 ref 2311 Red / White DGnd 13, 1212 White / Black T ref 5813 Grey / White SG5 reference 2614 Violet / White SG4 reference 6115 Blue / White SG3 reference 6316 Green / White SG2 reference 3117 Yellow / White SG1 reference 6618 Brown / White SG0 reference 3419 Black / White DIO0 5222 Black AIGnd 56

Stripping Shielding Stripping




Connections DAQ cable with open wire strands (FTD-C-PS-U-X)

Signal Wire strand

Signal input forcustomer-provided

data acquisition

Connection toPS / IFPS box

5V power supply Note: Shown here is the 5V power supply via the DAQ cable. Alternatively, thepower supply can also be supplied by the 12V power supply unit provided.

Can be connected to customer-provided data acquisition card (differential)


Signal input forcustomer-provided

data acquisitionNote: Shown here is the 5V power supply via the DAQ cable. Alternatively, thepower supply can also be supplied by the 12V power supply unit provided.5V power supply

Connection toPS / IFPS box

Signal Wire strand

Can be connected to customer-provided data acquisition card (single-ended)




Pin Wire strand Signal Slot Pin Wire strand Signal Slot1 n.c. No connection PFI 0/

P0.0 (In)33 n.c. No connection PFI 8/







P0.7 (In)5 n.c. No connection D GND 37 n.c. No connection D GND6 n.c. No connection PFI 4/

P1.0(Out)

38 n.c. No connection PFI 12/P1.4(Out)







10 n.c. No connection +5 V 42 n.c. No connection +5 V11 Twisted

shieldingShielding D GND 43 Twisted

shieldingShielding D GND

12 n.c. No connection NC oderAO 0

44 n.c. No connection NC

13 n.c. No connection NC orAO1

45 n.c. No connection NC

14 n.c. No connection Reser orAO GND

46 n.c. No connection AI GND

15 Brown SG0 output AI 0 47 Brown SG0 output AI 1616 Brown / White SG0 reference AI 8 48 Brown / White SG0 reference AI 2417 Yellow SG1 output AI 1 49 Yellow SG1 output AI 1718 Yellow / White SG1 reference AI 9 50 Yellow / White SG1 reference AI 2519 Green SG2 output AI 2 51 Green SG2 output AI 1820 Green / White SG2 reference AI 10 52 Green / White SG2 reference AI 2621 Blue SG3 output AI 3 53 Blue SG3 output AI 1922 Blue / White SG3 reference AI 11 54 Blue / White SG3 reference AI 2723 n.c. No connection AI SENSE 55 n.c. No connection AI GND24 Violet SG4 output AI 4 56 Violet SG4 output AI 2025 Violet / White SG4 reference AI 12 57 Violet / White SG4 reference AI 28


Pin Wire strand Signal Slot Pin Wire strand Signal Slot26 Grey SG5 output AI 5 58 Grey SG5 output AI 2127 Grey / White SG5 reference AI 13 59 Grey / White SG5 reference AI 2928 Black AGnd power

inputAI GND 60 Black AI GND AI GND

29 n.c. No connection AI 6 61 n.c. No connection AI 2230 n.c. No connection AI 14 62 n.c. No connection AI 3031 n.c. No connection AI 7 63 n.c. No connection AI 2332 n.c. No connection AI 15 64 n.c. No connection AI 31




5.2.3 IFPSMC box

Sensor cable connection to IFPSMC box

Sensor connections to the IFPSMC box

Signal assignment sensor connections

Item Sensorconnec-tion

Signal NIdifferential

channel

NI +inputchannel

NI -inputchannel

DAQ cardconnector

# / NI +inputpin

DAQ cardconnector

# / NI -inputpin

6 1 SG0 AI 4 AI 4 AI 12 0 / 28 0 / 61SG1 AI 5 AI 5 AI 13 0 / 60 0 / 26SG2 AI 6 AI 6 AI 14 0 / 25 0 / 58SG3 AI 7 AI 7 AI 15 0 / 57 0 / 23SG4 AI 16 AI 16 AI 24 1 / 68 1 / 34SG5 AI 17 AI 17 AI 25 1 / 33 1 / 67




Item Sensorconnec-tion

Signal NIdifferential

channel

NI +inputchannel

NI -inputchannel

DAQ cardconnector

# / NI +inputpin

DAQ cardconnector

# / NI -inputpin




The available signals on the IFPSMC box are shown in the appendixof this manual, Appendix [} 50].




Connections DAQ cable for IFPSMC box (SHC-68-68-EPM)

68-pin connector (VHDCI), customer-provided data acquisition card connection

68-pin connector (type D), IFPSMC box connection


Pin68-pin connector

(type D)

Wire strand Pin68-pin connector

(VHDCI)65 White / Black 6531 Black / White 3164 Shielding 1 6463 White / Brown 6330 Brown / White 3029 Shielding 2 2957 White / Red 5723 Red / White 2356 Shielding 3 5668 White / Orange 6834 Orange / White 3467 Shielding 4 6766 White / Green 6633 Green / White 3332 Shielding 5 3258 White / Blue 5825 Blue / White 2524 Shielding 6 2460 White / Violet 6026 Violet / White 2659 Shielding 7 5961 White / Grey 6128 Grey / White 2827 Shielding 8 2722 Brown / Black 2254 Black / Brown 5421 Red / Black 2155 Black / Red 5562 White / Yellow 6220 Red / Blue 2054 shielded 54




Power supply connection to IFPSMC box

PIN allocation for power supply

Pin Signal1 +V output3 0V input4 n.c.

Current flow at room temperature

Designation Input current [A]5VDC 12VDC 15VDC

9105-IFPSMC-2 0.36 0.19 0.169105-IFPSMC-3 0.54 0.28 0.249105-IFPSMC-4 0.72 0.37 0.329105-IFPSMC-5 0.90 0.46 0.409105-IFPSMC-6 1.08 0.56 0.48


5.3 Installing the softwarePreparing the installation1. If required: Download demo software from https://www.ati-

ia.com/Products/ft/software/ daq_software.aspx, open theSetup.exe file and follow the installation instructions of theprogram.

2. Insert CD included in the scope of delivery into the PC.3. Unpack the ZIP file "FTxxxx.zip".

✓ The unzipped files are named after the force-torque sensordesignations in FTxxxx.cal format. For the installation, onlythe file that is named after the force-torque sensor used isrequired.

4. Copy the file and store it in the program directory "ATI DAQFT". If several calibrations have been ordered, several files canbe copied.

Start demo program

NOTEThe demo program can only be used in conjunction with NationalInstruments devices.

1. Open the demo program under Programs > ATI DAQ FT > ATIDAQ FT Demo.✓ The program is started.

2. In the navigation, click on File > Load Calibration and open theunzipped FTxxxx.cal file.✓ Bar graphs for the measured forces and the measured

torques are displayed.




3. Load force-torque sensor carefully. IMPORTANT! Risk ofdamage to the sensor! Load the sensor carefully, otherwiseirreparable damage may occur.✓ The bar graphs move according to the load on the sensor.

4. Mount the sensor on the robot or other product. The Assemblyand Operating Manual for the sensor contains furtherinformation, Applicable documents [} 6].

5. During sensor installation, use the bar graphs to check that thesensor is not overloaded.

Left: Load within the range of measurement, right: Load outside the permissible rangeof measurement

6. When the sensor has been successfully mounted, select"Resolved F/T Data" in the "Data Type" box.

✔ The force-torque sensor system is ready for use.

Operation

6 OperationThe DAQ software converts the signals of the strain gauges in theFT sensor into force and torque values. With the help of anapplication, the values can be viewed and edited.The ATI DAQ F/T software includes software components that canbe used to create an application. In addition, the software includesdemo programs that make the installation of the force-torquesensor easier.

6.1 Available software interfaces and demo programsAvailable software interfacesThe software interfaces "ATI DAQ FT Automation Server" and "C-Library" read out the calibration files, configure the sensor systemand convert raw voltages from any data acquisition system intoforces and moments.• ATI DAQ FT: ATI DAQ FT is an ActiveX DLL with reusable code

components. To use ATI DAQ FT, the user must read thevoltages from the DAQ device and forward these voltages to ATIDAQ FT to calculate the forces and moments. ATI DAQ FT can beused on Windows in a programming environment that supportsActiveX or Automated Containment - i.e. Microsoft Visual Basic6.0, Microsoft Visual C++, Microsoft NET Platform and NationalInstruments LabVIEW. For users who do not use NI-DAQinstruments, ATI DAQ FT provides a hardware-independentmath library. The ATI DAQ F/T software help file containsfurther information, Applicable documents [} 6].

• C library: Reusable components in the C programming languageto convert the voltages that have been read into forces andmoments. The library uses standard ANSI C and mainly supportsnon-Windows operating systems.

Demo programsThe demo programs display the forces and moments transmittedby National Instrument devices in real time.• Windows Demo (Visual Basic 6.0): This demo program offers the

possibility of testing the sensor system in the Windowsenvironment. It uses National Instruments software and ATIDAQ F/T software. The program can configure the sensorsystem and includes a Microsoft Visual Basic 6.0 source.

• LabVIEW Sample: This demo program in LabVIEW uses the ATIDAQ FT automation application and analog input provided byNational Instrument devices to represent forces and moments.


Operation


6.2 Manual calculationsIf no special software is required for the calculation of forces andmoments, the values can also be calculated manually using simplematrix multiplication. A prerequisite for this is that the raw datacan be read out manually from the DAQ device. The raw data isthen the basis for the manual matrix multiplication.

6.3 Creating your own applicationAs an alternative to the predefined software interfaces, the DAQ-F/T application can also be created manually to convert the signalsof the strain gauges in the sensor into force and torque values.Two components are necessary for this:• Device drivers for the DAQ instrument and target operating

system: National Instruments offers a variety of drivers forWindows, including 32-bit DLLs, LabVIEW VIs, and ActiveXcontrols, for use with your devices. Drivers for other operatingsystems in combination with National Instruments devices areavailable from third-party vendors. If other DAQ devices areused, either the device vendors will provide the necessarydrivers or the drivers also have to be obtained from third partyvendors.

• ATI DAQ FT components or C library: For Windows, SCHUNKrecommends the ATI DAQ FT. In some cases ATI DAQ FT cannotbe used, e.g. if ActiveX is not supported. In these cases, ATI DAQFT can assist in the installation of the sensor, but does not haveto be part of the final application.

The ATI DAQ F/T software help file contains further information,Applicable documents [} 6].

Troubleshooting

7 Troubleshooting

7.1 SaturationPossible cause Corrective actionForce-torque sensor or data acquisitionhardware is subject to a load or signal that isoutside the range of measurement

Pause force application on force-torquesensor until the error disappears.If the error does not disappear, the overloadvalue was exceeded or the power supplywas disconnected.

7.2 Signal noisePossible cause Corrective actionSignal noise is caused by mechanicalvibrations or electrical interference.

Ensure that the system is properly groundedand isolated from external electricalinterference.A component in the system has failed.

7.3 Measurement data deviation / driftPossible cause Corrective actionMeasured values are not completely resetafter loading and unloading.

Drift is caused, for example, by rapidtemperature changes. Have the force-torquesensor adjusted to the ambient temperaturebefore measuring again.Operate all components separately.Thoroughly clean the sensor body andadapter plate of contamination.

There is an internal error in the entiresystem.

7.4 HysteresisPossible cause Corrective actionMeasured values are not completely resetafter loading and unloading.

Operate all components separately.Thoroughly clean the sensor body andadapter plate of contamination.


Maintenance


8 Maintenance

CAUTIONMaterial damage due to improper disassembly!Incorrect works can cause damage to the mechanics and internalelectronics.• Disassembly or opening of the product is not permitted.• Only allow SCHUNK to repair the product.

This product must not be disassembled for maintenance.Maintenanceintervals

Maintenanceinterval

Maintenance work

weekly Check all parts for damage and wear.annual Send sensor and power supply box to

SCHUNK for calibration.Send sensors and IFPSMC box to SCHUNK forcalibration.

as required Send damaged products to SCHUNK forrepair.

EU Declaration of Conformity

9 EU Declaration of Conformity

Manufacturer/Distributor

SCHUNK GmbH & Co. KG Clamping and gripping technology Bahnhofstr. 106 - 134 D-74348 Lauffen/Neckar

We hereby declare on our sole authority that the product meets the requirements of thefollowing directive at the time of declaration. The declaration is rendered invalid if modifications are made to the product.

Product designation: Force-torque sensor system FTDThis declaration of conformity is valid for all variants mentioned inthe appendix.

Electromagnetic compatibility (EMC Directive) 2014/30/EU

Applied harmonized standards, especially:

EN 61326-2-3:2013 Electrical equipment for measurement, control and laboratoryuse - EMC requirements – Part 2-3: Particular requirements – Testconfiguration, operational conditions and performance criteria fortransducers with integrated or remote signal conditioning. (IEC61326-2-3:2012)

EN ISO 12100:2010 Safety of machinery - General principles for design -Risk assessment and risk reduction

All related technical documentation has been prepared in electronic form according toDirective 2014/30/EU and will be made available to national authorities on demand. Thesignatory is resident at the manufacturer's address and is authorized to compile thisdocumentation.

Signed for and on behalf of: SCHUNK GmbH & Co. KG

Dr.-Ing. Manuel Baumeister,Technology & Innovation, Mechatronics & Sensors

Lauffen/Neckar, July 2021


Appendix to the declaration of conformity


10 Appendix to the declaration of conformityThis declaration of conformity is valid for all variants of the force/torque sensor mentioned in this appendix.

FTD-interfaceFTD-Nano-17 SI-12-0.12FTD-Nano-17 SI-25-0.25FTD-Nano-17 SI-50-0.5FTD-Nano-17-T SI-8-0.05FTD-Nano-17-T SI-16-0.1FTD-Nano-17-T SI-32-0.2FTD-Nano-25 SI-125-3FTD-Nano-25 SI-250-6FTD-Nano-43 SI-9-0.125FTD-Nano-43 SI-18-0.25FTD-Nano-43 SI-36-0.5FTD-Mini-40 SI-20-1FTD-Mini-40 SI-40-2FTD-Mini-40 SI-80-4FTD-Mini 43 SI-62-0.75FTD-Mini 43 SI-125-1.5FTD-Mini 43 SI-250-3FTD-Mini-45 SI-145-5FTD-Mini-45 SI-290-10FTD-Mini-45 SI-580-20FTD-Mini-58 SI-700-30FTD-Mini-58 SI-1400-60FTD-Mini-58 SI-2800-120FTD-Mini-85 SI-475-20FTD-Mini-85 SI-950-40FTD-Mini-85 SI-1900-80FTD-Gamma SI-32-2.5FTD-Gamma SI-65-5FTD-Gamma SI-130-10FTD-Delta SI-165-15FTD-Delta SI-330-30FTD-Delta SI-660-60FTD-Theta SI-1000-120FTD-Theta SI-1500-240FTD-Theta SI-2500-400FTD-Omega85 SI-475-20


FTD-Omega85 SI-950-40FTD-Omega85 SI-1900-80FTD-Omega-160 SI-1000-120FTD-Omega-160 SI-1500-240FTD-Omega-160 SI-2500-400FTD-Omega-191 SI-1800-350FTD-Omega-191 SI-3600-700FTD-Omega-191 SI-7200-1400FTD-Omega-250 SI 4000 500FTD-Omega-250 SI 8000 1000FTD-Omega-250 SI-16000-2000FTD-Omega-331 SI-10000-1500FTD-Omega-331 SI-20000-3000FTD-Omega-331 SI-40000-6000

FTN-interfaceFTN-Nano-17 SI-12-0.12FTN-Nano-17 SI-25-0.25FTN-Nano-17 SI-50-0.5FTN-Nano-17-T SI-8-0.05FTN-Nano-17-T SI-16-0.1FTN-Nano-17-T SI-32-0.2FTN-Nano-25 SI-125-3FTN-Nano-25 SI-250-6FTN-Nano-43 SI-9-0.125FTN-Nano-43 SI-18-0.25FTN-Nano-43 SI-36-0.5FTN-Mini-40 SI-20-1FTN-Mini-40 SI-40-2FTN-Mini-40 SI-80-4FTN-Mini 43 SI-62-0.75FTN-Mini 43 SI-125-1.5FTN-Mini 43 SI-250-3FTN-Mini-45 SI-145-5FTN-Mini-45 SI-290-10FTN-Mini-45 SI-580-20FTN-Mini-58 SI-700-30FTN-Mini-58 SI-1400-60FTN-Mini-58 SI-2800-120FTN-Mini-85 SI-475-20FTN-Mini-85 SI-950-40




FTN-Mini-85 SI-1900-80FTN-Gamma SI-32-2.5FTN-Gamma SI-65-5FTN-Gamma SI-130-10FTN-Delta SI-165-15FTN-Delta SI-330-30FTN-Delta SI-660-60FTN-Theta SI-1000-120FTN-Theta SI-1500-240FTN-Theta SI-2500-400FTN-Omega85 SI-475-20FTN-Omega85 SI-950-40FTN-Omega85 SI-1900-80FTN-Omega 160 SI 1000 120FTN-Omega-160 SI-1500-240FTN-Omega 160 SI 2500 400FTN-Omega-191 SI-1800-350FTN-Omega-191 SI-3600-700FTN-Omega-191 SI-7200-1400FTN-Omega-250 SI-4000-500FTN-Omega 250 SI-8000-1000FTN-Omega 250 SI 16000 2000FTN-Omega-331 SI-10000-1500FTN-Omega-331 SI-20000-3000FTN-Omega 331 SI-40000-6000

FTE-interfaceFTE-Nano-17 SI-12-0.12FTE-Nano-17 SI-25-0.25FTE-Nano-17 SI-50-0.5FTE-Nano-17-T SI-8-0.05FTE-Nano-17-T SI-16-0.1FTE-Nano-17-T SI-32-0.2FTE-Nano-25 SI-125-3FTE-Nano-25 SI-250-6FTE-Nano-43 SI-9-0.125FTE-Nano-43 SI-18-0.25FTE-Nano-43 SI-36-0.5FTE-Mini-40 SI-20-1FTE-Mini-40 SI-40-2FTE-Mini-40 SI-80-4


FTE-Mini 43 SI-62-0.75FTE-Mini 43 SI-125-1.5FTE-Mini 43 SI-250-3FTE-Mini-45 SI-145-5FTE-Mini-45 SI-290-10FTE-Mini-45 SI-580-20FTE-Mini-58 SI-700-30FTE-Mini-58 SI-1400-60FTE-Mini-58 SI-2800-120FTE-Mini-85 SI-475-20FTE-Mini-85 SI-950-40FTE-Mini-85 SI-1900-80FTE-Gamma IP65 SI-32-2.5FTE-Gamma IP65 SI-65-5FTE-Gamma-IP65 SI-130-10FTE-Delta-IP60 SI-165-15FTE-Delta-IP65 SI-165-15FTE-Delta-IP60 SI-330-30FTE-Delta-IP65 SI-330-30FTE-Delta-IP60 SI-660-60FTE-Delta IP65 SI-660-60FTE-Omega 160-IP60 SI 1000-120FTE-Omega 160-IP65 SI 1000-120FTE-Omega 160-IP60 SI 1500-240FTE-Omega 160-IP65 SI 1500-240FTE-Omega 160-IP60 SI 2500-400FTE-Omega 160-IP65 SI 2500-400FTE-Omega 250 IP60 SI 4000 500FTE-Omega 250-IP60 SI-8000-1000FTE-Omega 250-IP60 SI-16000-2000


Appendix


11 AppendixFurther information

2 [} 50]

11.1

Multiple IFPS Box Connector 0 and Connector 1

IFPSMC Box Connector 0 User Signals AvailablePin

Number SignalIFPS Model

IFPSMC-1 IFPSMC-2 IFPSMC-3 IFPSMC-4 IFPSMC-5 IFPSMC-61 P2.6 Available Available Available Available Available Available2 P2.4 Available Available Available Available Available Available3 P2.1 Available Available Available Available Available Available4 D GND Available Available Available Available Available Available5 P1.6 Available Available Available Available Available Available6 P1.5 Available Available Available Available Available Available7 D GND Available Available Available Available Available Available8 +5V Available Available Available Available Available Available9 D GND Available Available Available Available Available Available10 P1.1 Available Available Available Available Available Available11 P1.0 Available Available Available Available Available Available12 D GND Available Available Available Available Available Available13 D GND Available Available Available Available Available Available14 +5V Available Available Available Available Available Available15 D GND Available Available Available Available Available Available16 P0.6 Available Available Available Available Available Available17 P0.1 Available Available Available Available Available Available18 D GND Available Available Available Available Available Available19 P0.4 Available Available Available Available Available Available20 NC Available Available Available Available Available Available21 AO 1 Available Available Available Available Available Available22 AO 0 Available Available Available Available Available Available23 AI 15 Available Available Available Available Available TC1-SG3(-)24 AI GND25 AI 6 Available Available Available Available Available TC1-SG2(+)26 AI 13 Available Available Available Available Available TC1-SG1(-)27 AI GND28 AI 4 Available Available Available Available Available TC1-SG0(+)29 AI GND30 AI 3 Available(+) Available(+) Available(+) Available(+) Available(+) Available(+)31 AI 10 Available(-) Available(-) Available(-) Available(-) Available(-) Available(-)32 AI GND33 AI 1 Available(+) Available(+) Available(+) Available(+) Available(+) Available(+)34 AI 8 Available(-) Available(-) Available(-) Available(-) Available(-) Available(-)

Notes:1. TC-SGx(x) = Transducer Connection number - Signal (SGx) - positive (+) or negative (-) input2. Available (x) = User signal available - positive (+) or negative (-) input

Appendix



IFPSMC-1 IFPSMC-2 IFPSMC-3 IFPSMC-4 IFPSMC-5 IFPSMC-635 D GND Available Available Available Available Available Available36 D GND Available Available Available Available Available Available37 P2.0 Available Available Available Available Available Available38 P1.7 Available Available Available Available Available Available39 P2.7 Available Available Available Available Available Available40 P2.5 Available Available Available Available Available Available41 P1.4 Available Available Available Available Available Available42 P1.3 Available Available Available Available Available Available43 P1.2 Available Available Available Available Available Available44 D GND Available Available Available Available Available Available45 P2.2 Available Available Available Available Available Available46 P2.3 Available Available Available Available Available Available47 P0.3 Available Available Available Available Available Available48 P0.7 Available Available Available Available Available Available49 P0.2 Available Available Available Available Available Available50 D GND Available Available Available Available Available Available51 P0.5 Available Available Available Available Available Available52 P0.0 Available Available Available Available Available Available53 D GND Available Available Available Available Available Available54 AO GND Available Available Available Available Available Available55 AO GND Available Available Available Available Available Available56 AI GND57 AI 7 Available(+) Available(+) Available(+) Available(+) Available(+) TC1-SG3(+)58 AI 14 Available(-) Available(-) Available(-) Available(-) Available(-) TC1-SG2(-)59 AI GND60 AI 5 Available(+) Available(+) Available(+) Available(+) Available(+) TC1-SG1(+)61 AI 12 Available(-) Available(-) Available(-) Available(-) Available(-) TC1-SG0(-)62 AI SENSE163 AI 11 Available(-) Available(-) Available(-) Available(-) Available(-) Available(-)64 AI GND65 AI 2 Available(+) Available(+) Available(+) Available(+) Available(+) Available(+)66 AI 9 Available(-) Available(-) Available(-) Available(-) Available(-) Available(-)67 AI GND68 AI 0 Available(+) Available(+) Available(+) Available(+) Available(+) Available(+)



Appendix


Multiple IFPS Box Connector 0 and Connector 1



IFPSMC-1 IFPSMC-2 IFPSMC-3 IFPSMC-4 IFPSMC-5 IFPSMC-61 Al 71 Available(+) Available(+) Available(+) Available(+) TC6-SG5(+) TC6-SG5(+)

2 Al 78 Available(-) Available(-) Available(-) Available(-) TC6-SG4(-) TC6-SG4(-)3 Al 69 Available(+) Available(+) Available(+) Available(+) TC6-SG3(+) TC6-SG3(+)4 Al 68 Available(+) Available(+) Available(+) Available(+) TC6-SG2(+) TC6-SG2(+)5 Al 75 Available(-) Available(-) Available(-) Available(-) TC6-SG1(-) TC6-SG1(-)6 Al 66 Available(+) Available(+) Available(+) Available(+) TC6-SG0(+) TC6-SG0(+)7 Al 65 Available(+) Available(+) Available(+) TC5-SG5(+) TC5-SG5(+) TC5-SG5(+)8 Al 72 Available(-) Available(-) Available(-) TC5-SG4(-) TC5-SG4(-) TC5-SG4(-)9 AI GND

10 AI 55 Available(+) Available(+) Available(+) TC5-SG3(+) TC5-SG3(+) TC5-SG3(+)11 AI 54 Available(+) Available(+) Available(+) TC5-SG2(+) TC5-SG2(+) TC5-SG2(+)12 Al 61 Available(-) Available(-) Available(-) TC5-SG1(-) TC5-SG1(-) TC5-SG1(-)13 AI 52 Available(+) Available(+) Available(+) TC5-SG0(+) TC5-SG0(+) TC5-SG0(+)14 AI 51 Available(+) Available(+) TC4-SG5(+) TC4-SG5(+) TC4-SG5(+) TC4-SG5(+)15 AI 58 Available(-) Available(-) TC4-SG4(-) TC4-SG4(-) TC4-SG4(-) TC4-SG4(-)16 Al 49 Available(+) Available(+) TC4-SG3(+) TC4-SG3(+) TC4-SG3(+) TC4-SG3(+)17 Al 48 Available(+) Available(+) TC4-SG2(+) TC4-SG2(+) TC4-SG2(+) TC4-SG2(+)18 Al 47 Available(-) Available(-) TC4-SG1(-) TC4-SG1(-) TC4-SG1(-) TC4-SG1(-)19 Al 38 Available(+) Available(+) TC4-SG0(+) TC4-SG0(+) TC4-SG0(+) TC4-SG0(+)20 Al 37 Available(+) TC3-SG5(+) TC3-SG5(+) TC3-SG5(+) TC3-SG5(+) TC3-SG5(+)21 Al 44 Available(-) TC3-SG4(-) TC3-SG4(-) TC3-SG4(-) TC3-SG4(-) TC3-SG4(-)22 AI GND23 Al 35 Available(+) TC3-SG3(+) TC3-SG3(+) TC3-SG3(+) TC3-SG3(+) TC3-SG3(+)24 Al 34 Available(+) TC3-SG2(+) TC3-SG2(+) TC3-SG2(+) TC3-SG2(+) TC3-SG2(+)25 Al 41 Available(-) TC3-SG1(-) TC3-SG1(-) TC3-SG1(-) TC3-SG1(-) TC3-SG1(-)26 Al 32 Available(+) TC3-SG0(+) TC3-SG0(+) TC3-SG0(+) TC3-SG0(+) TC3-SG0(+)27 AI 23 TC2-SG5(+) TC2-SG5(+) TC2-SG5(+) TC2-SG5(+) TC2-SG5(+) TC2-SG5(+)28 AI 30 TC2-SG4(-) TC2-SG4(-) TC2-SG4(-) TC2-SG4(-) TC2-SG4(-) TC2-SG4(-)29 AI 21 TC2-SG3(+) TC2-SG3(+) TC2-SG3(+) TC2-SG3(+) TC2-SG3(+) TC2-SG3(+)30 AI 20 TC2-SG2(+) TC2-SG2(+) TC2-SG2(+) TC2-SG2(+) TC2-SG2(+) TC2-SG2(+)31 AI 27 TC2-SG1(-) TC2-SG1(-) TC2-SG1(-) TC2-SG1(-) TC2-SG1(-) TC2-SG1(-)32 AI 18 TC2-SG0(+) TC2-SG0(+) TC2-SG0(+) TC2-SG0(+) TC2-SG0(+) TC2-SG0(+)33 Al 17 Available(+) Available(+) Available(+) Available(+) Available(+) TC1-SG5(+)34 Al 24 Available(-) Available(-) Available(-) Available(-) Available(-) TC1-SG4(-)


Appendix



IFPSMC-1 IFPSMC-2 IFPSMC-3 IFPSMC-4 IFPSMC-5 IFPSMC-635 Al 79 Available(-) Available(-) Available(-) Available(-) TC6-SG5(-) TC6-SG5(-)36 Al 70 Available(+) Available(+) Available(+) Available(+) TC6-SG4(+) TC6-SG4(+)37 Al 77 Available(-) Available(-) Available(-) Available(-) TC6-SG3(-) TC6-SG3(-)38 Al 76 Available(-) Available(-) Available(-) Available(-) TC6-SG2(-) TC6-SG2(-)39 Al 67 Available(+) Available(+) Available(+) Available(+) TC6-SG1(+) TC6-SG1(+)40 Al 74 Available(-) Available(-) Available(-) Available(-) TC6-SG0(-) TC6-SG0(-)41 Al 73 Available(-) Available(-) Available(-) TC5-SG5(-) TC5-SG5(-) TC5-SG5(-)42 Al 64 Available(+) Available(+) Available(+) TC5-SG4(+) TC5-SG4(+) TC5-SG4(+)43 AI GND44 Al 63 Available(-) Available(-) Available(-) TC5-SG3(-) TC5-SG3(-) TC5-SG3(-)45 Al 62 Available(-) Available(-) Available(-) TC5-SG2(-) TC5-SG2(-) TC5-SG2(-)46 AI 53 Available(+) Available(+) Available(+) TC5-SG1(+) TC5-SG1(+) TC5-SG1(+)47 Al 60 Available(-) Available(-) Available(-) TC5-SG0(-) TC5-SG0(-) TC5-SG0(-)48 AI 59 Available(-) Available(-) TC4-SG5(-) TC4-SG5(-) TC4-SG5(-) TC4-SG5(-)

49 Al 50 Available(+) Available(+) TC4-SG4(+) TC4-SG4(+) TC4-SG4(+) TC4-SG4(+)50 AI 57 Available(-) Available(-) TC4-SG3(-) TC4-SG3(-) TC4-SG3(-) TC4-SG3(-)51 AI 56 Available(-) Available(-) TC4-SG2(-) TC4-SG2(-) TC4-SG2(-) TC4-SG2(-)52 Al 39 Available(+) Available(+) TC4-SG1(+) TC4-SG1(+) TC4-SG1(+) TC4-SG1(+)53 Al 46 Available(-) Available(-) TC4-SG0(-) TC4-SG0(-) TC4-SG0(-) TC4-SG0(-)54 Al 45 Available(-) TC3-SG5(-) TC3-SG5(-) TC3-SG5(-) TC3-SG5(-) TC3-SG5(-)55 Al 36 Available(+) TC3-SG4(+) TC3-SG4(+) TC3-SG4(+) TC3-SG4(+) TC3-SG4(+)56 AI SENSE 257 Al 43 Available(-) TC3-SG3(-) TC3-SG3(-) TC3-SG3(-) TC3-SG3(-) TC3-SG3(-)58 Al 42 Available(-) TC3-SG2(-) TC3-SG2(-) TC3-SG2(-) TC3-SG2(-) TC3-SG2(-)59 Al 33 Available(+) TC3-SG1(+) TC3-SG1(+) TC3-SG1(+) TC3-SG1(+) TC3-SG1(+)60 Al 40 Available(-) TC3-SG0(-) TC3-SG0(-) TC3-SG0(-) TC3-SG0(-) TC3-SG0(-)61 AI 31 TC2-SG5(-) TC2-SG5(-) TC2-SG5(-) TC2-SG5(-) TC2-SG5(-) TC2-SG5(-)62 AI 22 TC2-SG4(+) TC2-SG4(+) TC2-SG4(+) TC2-SG4(+) TC2-SG4(+) TC2-SG4(+)63 AI 29 TC2-SG3(-) TC2-SG3(-) TC2-SG3(-) TC2-SG3(-) TC2-SG3(-) TC2-SG3(-)64 AI 28 TC2-SG2(-) TC2-SG2(-) TC2-SG2(-) TC2-SG2(-) TC2-SG2(-) TC2-SG2(-)65 AI 19 TC2-SG1(+) TC2-SG1(+) TC2-SG1(+) TC2-SG1(+) TC2-SG1(+) TC2-SG1(+)66 AI 26 TC2-SG0(-) TC2-SG0(-) TC2-SG0(-) TC2-SG0(-) TC2-SG0(-) TC2-SG0(-)67 Al 25 Available(-) Available(-) Available(-) Available(-) Available(-) TC1-SG5(-)68 Al 16 Available(+) Available(+) Available(+) Available(+) Available(+) TC1-SG4(+)



Translation of original commissioning instructions

SCHUNK GmbH & Co. KGClamping and gripping technologyBahnhofstr. 106 - 134D-74348 Lauffen/NeckarTel. +49-7133-103-0Fax [email protected]

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