6-axis F/T Sensor (AFT150-D50, Wrist-Mounted)

FOREWORD

Thank you for purchasing our Force Torque sensor. This manual contains the information necessary for the correct use of the AIDIN ROBOTICS AFT150-D50 sensor. Please carefully read this manual when using this software. Please note that the basic performance of the product will not be exhibited when the robot system is used out of conditions. This manual describes possible dangers and consequences using Force Torque sensor. Be sure to comply with safety precautions written in this manual to use safety and correctly.

NOTICE

This manual Do NOT allow copy, reproduction or share without authorization of AIDIN ROBOTICS. Please notify us any errors in this manual or the provided instructions.

MANUFACTURER

AIDIN ROBOTICS

SAFETY PRECAUTIONS

Installation of Force Torque sensor MUST be performed by qualified personnel in accordance with national and local codes. Please carefully read this manual when using this software.

WARNING & CAUTION

1. Introduction

1.1 Smart 6-axis Force Torque Sensor, AFT150-D50

1.2 Key features

• Smart 6-axis force/torque sensor

• All-in-one sensor (No additional amplifier)

• Digital output communications (CAN, CAN-FD)

• Easy installation and data collection

• Grippers, robot hands, collaborative robot, industrial robot

1.3 Specs.

Index	Unit	Value
Operating voltage	VDC	5
Max. safe excitation voltage	VDC	12
Nominal force range (F_XYZN)	N	150
Nominal torque range (M_XYZN)	Nm	7.5
Limit force (F_XYZL)	N	300
Limit torque (M_XYZL)	Nm	10
Dimensions	mm	D50 x H17.7
Weight	g	60
Temperature	℃	10-50
Sample rate	Hz	1000
Interfaces	1,000Kbps	CAN
Wire	Length: 15 cm	For User: CAN_H / CAN_L / VCC / GND

1.4 Flyer

[AIDIN ROBOTICS]6-axis Force torque sensor(Wrist)_EN.pdf

 

2. Installation Guide

2.1 Basic Components

• AFT150-D50 x 1 EA

2.2 Mounting

• Performance cannot be guaranteed and A/S not possible when disassembling internal/external bolts

• Sensor tightening order

• CAUTION OF CABLE CUTTING AND EXCESS PULLING

• Secure the sensor line with the robot so that it does not pull as it moves

  • Do not fix it to the robot using cable ties, etc., or use cable ties to fix it in a bundle shape like other wires

  • We recommend that you use Velcro to fix it with the robot, and please use Velcro to fix it when fixing it in a bundle form with other lines

2.3 AXIS & Drawings

Drawing File :2.3 Wiring

AFT150-D50-C_배포최종본.pdf

AFT150-D50-C_배포최종본.zip

 

2.3.1 Cable open-end

• Length: 15cm

   

 

2.4 Default Data Output Rate

• The output rate can be changed from 100 Hz to 1000 Hz

• Please refer to the “2.5 Mode setting” below for how to change it

• CAN-2.0

  • Nominal bitrate : 1Mbps

  • Data bitrate : 1Mbps

  • RX ID MASK : 0x220~0x22F, 0x320~0x32F

• CAN-FD

  • Nominal bitrate : 1Mbps

  • Data bitrate : 4Mbps (BRS mode)

  • RX ID MASK : 0x220~0x22F, 0x320~0x32F

• PCAN : CAN-FD PARAMETER SETTING
  
  

 

2.5 Mode setting

• RX CAN IDs : 0x220 (CAN 2.0) , 0x320 (CAN FD)
  TX CAN IDs : The pre-configured TX CAN IDs are 0x230 (CAN 2.0) and 0x330 (CAN FD). Accordingly, the 'current TX CAN ID' in the table below is represented as [0x30, 0x02] or [0x30, 0x03] (LSB first).

RX CAN ID	Data[0]	Data[1]	Data[2]	Data[3]	Data[4]	Data[5]	Description
0x220 0x320	current TX CAN ID (LSB)	current TX CAN ID (MSB)	0x01	0x01   0x02	TX CAN 2.0 ID(LSB) TX CAN FD ID(LSB)	TX CAN 2.0 ID(MSB) TX CAN FD ID(MSB)	Sensor TX CAN ID Setting 0x01 : TX CAN 2.0 ID set ex) TX CAN 2.0 ID(LSB) = 0x23, TX CAN 2.0 ID(MSB) = 0x01, Resulting ID 0x123 0x02 : TX CAN FD ID set ex) TX CAN FD ID(LSB) = 0x56, TX CAN FD ID(MSB) = 0x04, Resulting ID 0x456
			0x02				Bias
			0x03	0x01 0x02 0x03 0x04 0x05 0x06			Trasmitting Data INT without temperature compensation INT with temperature compensation INT Combined without temperature compensation (FD only) INT Combined with temperature compensation (FD only) Float Combined without temperature compensation (FD only) Float Combined with temperature compensation (FD only)
			0x04	0x01 0x02			CAN Mode CAN 2.0 mode CAN FD mode
			0x05	0x01 0x02 0x03 0x04			Sample rate setting RATE 100Hz (Default) RATE 250Hz RATE 500Hz RATE 1000Hz
			0x06	0x01 0x02 0x03 0x04			FD Parameter setting FDSET1 (Default) FDSET2 FDSET3 FDSET4
	0xFF	0xFE	0xFB				SERIAL NUMBER Confirm (To Be Determined)
	0xFF	0xFE	0xFC	0x01 0x02			TX CAN ID Confirm TX CAN 2.0 ID : data field not used (DLC = 0) TX CAN FD ID : data field not used (DLC = 0)
	0xFF	0xFE	0xFD				Factory reset FDSET1 (Default) RATE 100Hz (Default) Zero Bias (Default) current TX CAN2.0 ID : 0x230 (Default), current TX CANFD ID : 330 (Default)

2.5.1 Force & Torque data Casting

Force INT Transmitting mode (data[2] : 0x03, data[3] : 1 or 2)

TX CAN ID	DLC	data[0]	data[1]	data[2]	data[3]	data[4]	data[5]
2.0 ID 0x230 FD ID 0x330	6	Fx(LSB)	Fx(MSB)	Fy(LSB)	Fy(MSB)	Fz(LSB)	Fz(MSB)

• Fx Output = Fx(MSB)*256 + Fx(LSB)

• Fy Output = Fy(MSB)*256 + Fy(LSB)

• Fz Output = Fz(MSB)*256 + Fz(LSB)

• Force[N] = Force Output/100

Torque INT Transmitting mode (data[2] : 0x03, data[3] : 1 or 2)

TX CAN ID	DLC	data[0]	data[1]	data[2]	data[3]	data[4]	data[5]
2.0 ID 0x231 FD ID 0x331	6	Tx(LSB)	Tx(MSB)	Ty(LSB)	Ty(MSB)	Tz(LSB)	Tz(MSB)

• Tx Output = Tx(MSB)*256 + Tx(LSB)

• Ty Output = Ty(MSB)*256 + Ty(LSB)

• Tz Output = Tz(MSB)*256 + Tz(LSB)

• Torque[Nm] = Torque Output/1000

INT Combined Transmitting mode (data[2] : 0x03, data[3] : 3 or 4)

TX CAN ID

DLC

data[0]

data[1]

data[2]

data[3]

data[4]

data[5]

data[6]

data[7]

data[8]

data[9]

data[10]

data[11]

FD ID 0x332

12

Fx(LSB)

Fx(MSB)

Fy(LSB)

Fy(MSB)

Fz(LSB)

Fz(MSB)

Tx(LSB)

Tx(MSB)

Ty(LSB)

Ty(MSB)

Tz(LSB)

Tz(MSB)

• Fx Output = Fx(MSB)*256 + Fx(LSB)

• Fy Output = Fy(MSB)*256 + Fy(LSB)

• Fz Output = Fz(MSB)*256 + Fz(LSB)

• Tx Output = Tx(MSB)*256 + Tx(LSB)

• Ty Output = Ty(MSB)*256 + Ty(LSB)

• Tz Output = Tz(MSB)*256 + Tz(LSB)

• Force[N] = Force Output/100

• Torque[Nm] = Torque Output/1000

Float Combined Transmitting mode (data[2] : 0x03, data[3] : 5 or 6)

TX CAN ID	DLC	data[0~3]	data[4~7]	data[8~11]	data[12~15]	data[16~19]	data[20~23]
FD ID 0x332	24	Fx	Fy	Fz	Tx	Ty	Tz

• uint32_t Fx_Raw = (Fx(MSB) << 24) | (Fx(3rd) << 16) | (Fx(2nd) << 8) | (Fx(LSB));

• float Fx_Output = *(float *)&Fx_Raw ;

• uint32_t Fy_Raw = (Fy(MSB) << 24) | (Fy(3rd) << 16) | (Fy(2nd) << 8) | (Fy(LSB));

• float Fy_Output = *(float *)&Fy_Raw ;

• uint32_t Fz_Raw = (Fz(MSB) << 24) | (Fz(3rd) << 16) | (Fz(2nd) << 8) | (Fz(LSB));

• float Fz_Output = *(float *)&Fz_Raw ;

• uint32_t Tx_Raw = (Tx(MSB) << 24) | (Tx(3rd) << 16) | (Tx(2nd) << 8) | (Tx(LSB));

• float Tx_Output = *(float *)&Tx_Raw ;

• uint32_t Ty_Raw = (Ty(MSB) << 24) | (Ty(3rd) << 16) | (Ty(2nd) << 8) | (Ty(LSB));

• float Ty_Output = *(float *)&Ty_Raw ;

• uint32_t Tz_Raw = (Tz(MSB) << 24) | (Tz(3rd) << 16) | (Tz(2nd) << 8) | (Tz(LSB));

• float Tz_Output = *(float *)&Tz_Raw ;

• Force[N] = Force Output

• Torque[Nm] = Torque Output

2.5.2 DEVICES

PCAN-USB FD Device (USB to CAN FD)

• You may use a different CAN-enabled board, but use peak-system converter to use the sample program

• Download link, Item number IPEH-004022

  https://www.peak-system.com/PCAN-USB-FD.365.0.html?&L=1

2.6 Force/Torque Out of Range

The sensor can operate up to its nominal capacity, while a single axis load. On Nominal capacity reading is incorrect and invalid.

The nominal capacity of composite loading is The following diagram illustrates a complex loading scenario. The sensor cannot operate outside the normal operating area

The following graph shows the range of payloads and tool lengths that can be used with AFT150-D50-C sensor for applications requiring high or moderate precision.

• The total percentage of the calibrated range used by Fxy and Tz axes is greater than 105%. Refer to the following Fxy, Tz equation.

• The total percentage of the calibrated range used by Fz and Txy axes is greater than 105%. Refer to the following Fz, Txy equation.

  

3. Software

3.1.1 PCAN-View

• pcan-view

• Download link

  • https://www.peak-system.com/PCAN-View.242.0.html?&L=1
    
    

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