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F/T System Interfaces  
 
 
Skip Navigation LinksHome > Products > Force/Torque Sensors > System Interfaces



ATI offers seven different F/T system configurations:

Net F/T

Connects to Ethernet, EtherNet/IP, DeviceNet, and/or CAN bus systems. The Net F/T's web browser interface allows for easy configuration and set up via the Ethernet connection present on all NetBox models. The Ethernet interface sends high-speed streaming data using UDP packets. A PROFINET interface is also available as an option.

Net F/T Details
Net F/T Manual
Net F/T: Multi-Axis Force/Torque Transducer
Net F/T
   
Wireless F/T

Connects to 802.11/b/g/n and/or USB systems. Up to six transducers can connect to a Wireless F/T interface, depending on the model. Configuration is done using plain text commands via the telnet protocol over TCP. High-speed streaming data is sent using UDP packets over the 2.4 GHz or 5.0 GHz wireless connection.

Wireless F/T Details
Wireless F/T Manual

Wireless F/T
EtherCAT F/T

Connects to one 4-pin, M12 connector for EtherCAT signal and power. Integrated signal conditioning, data acquisition, and a single-port EtherCAT interface are all contained in the sensor. The EtherCAT F/T interface is available on the transducer for larger ATI transducer models with IP60 or IP65 protection. Also available as an OEM interface option, the ECATOEM interface board was designed to be integrated into small robot arms. ECATOEM is compatible with all ATI TW model transducers with an EC8 connector option.

EtherCAT Manual
EtherCAT OEM Manual

EtherCAT F/T
   
Digital F/T

Connects to RS-485 bus and uses power from a user-supplied DC power source. The user’s computer converts the transducer output into force and torque data using ATI software. The electronics for this interface can be located on the transducer (except for Nano- and Mini-series transducers). 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.

Digital F/T Manual

Digital F/T
   
DAQ F/T

Connects to a variety of systems such as PCI, PCIe, PXI, USB, and more via standard data acquisition cards. The transducer's six strain gage outputs are amplified and conditioned so they can be connected directly to the inputs of standard data acquisition cards. After the strain gage voltages are digitized, ATI software performs calibration matrix calculations in the host computer to convert strain gage data into force and torque data.

DAQ F/T Manual
DAQ F/T: Multi-Axis Force/Torque Transducer
DAQ F/T
Controller F/T

Connects to systems via RS-232, analog outputs and/or discrete I/O connections. The F/T Controller connects to its transducer and converts its outputs to forces and torques.

Controller F/T Manual
Controller F/T: Multi-Axis Force/Torque Transducer
Controller F/T
   
TWE F/T

Typically used for special OEM and research applications, the TWE (Transducer Without Electronics) system requires customer-supplied amplification and signal conditioning. This system consists of just the transducer, calibration information, and source code. Customers must supply the electrical interface, amplification and signal conditioning according to our documentation. This requires a high level of electronics skill and experience and a complete understanding of the user's manual. Customers must also implement a software interface, but can use ATI supplied code for the necessary calculations.

TWE Manual
TWE F/T: Multi-Axis Force/Torque Transducer
TWE F/T
Data rates of the different F/T systems types
Type Output Format Maximum Output Rate Latency Filtering Options Anti-Aliasing Filtering Thresholding Discrete I/O
Net F/T Std. mode (Fieldbus or Ethernet) 7000 Hz 500 μs 5 Hz to 838 Hz, digital filtering 2nd order @ 1000 Hz One-bit output. The standard mechanical relay has 6 ms latency. The optional solid-state relay has 500 μs latency.
RDT mode (Ethernet only) 288 μs
Wireless F/T Wireless IEEE 802.11b/g/n at 2.4 GHz or 5.0 GHz 1200 Hz (six transducers enabled) 833 μs Averaging 2nd order @ 1000 Hz None. Thresholding can be custom implemented in user’s software.
USB 2.0 42 Hz (six transducers enabled) 24.6 ms
EtherCAT F/T EtherCAT 1000 Hz up to 1 ms 2 Hz to 360 Hz, digital filtering 2nd order @ 1000 Hz One-bit solid-state relay output with 500 μs latency.
Digital F/T RS-485 serial at up to 1.25 MBaud 7000 Hz 144 μs None 2nd order @ 1000 Hz None. Thresholding can be custom implemented in user’s software.
DAQ F/T Digital from DAQ card 16.67 kHz† to 41.67 kHz† 1/OutputRate Averaging 2nd order @ 5.1 kHz None. Thresholding can be custom implemented in user’s software.
F/T Controller RS-232 560 Hz 2585 μs Averaging 2nd order @ 235 Hz 4-bit output, 4-bit input, optional 2-bit handshake. Maximum latency is 1300 μs.
Analog voltage 2500 Hz 800 μs
TWE F/T Voltage Practically infinite Negligible None None None. Thresholding can be custom implemented in user’s software.
† the DAQ output rate is the data rate of the DAQ board being used divided by (6) channels
‡ Latency values do not include delays from the user's network
 
Output Format: Format of the data.
Maximum Output Rate: The maximum number of samples per second received by the user.
Latency: The maximum amount of time it takes for a load to be output and received by the user. The latency data given in the table above is for the maximum output rate. At lower output rates the latency will increase.
Filtering Options: Digital filters available to the user. These may be disabled.
Anti-Aliasing Filter: The type of low-pass filter used to remove high-frequency noise from the transducer's signals.
Thresholding Discrete I/O: Types of discrete I/O to signal the state of user-defined thresholding statements.
Note: Resonance frequencies for transducers are listed with transducer specifications. Frequency response is dependent on sensor tooling mass and configuration, is specific to each application, and if desired is the responsibility of the customer to determine.
   
Synchronization of F/T Systems with other measurement systems
Interface Summary Synchronization Method Latency
Net F/T Computer programming required to access data on network. Streaming outputs rates are accurate to ±0.5%. Available synchronization methods:
  • 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 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.
Wireless F/T Each data set has a time stamp from the Wireless F/T’s synchronized clock. Network Time Protocol (NTP). Depends on network.
EtherCAT F/T EtherCAT has native synchronization. EtherCAT’s native synchronization. Latency between actual event and EtherCAT output is up to 1 ms.
Digital F/T Computer programming required to use Digital F/T. Data streams at a constant 7000 Hz, accurate to ±0.5%. Data is autonomously streamed at 7000 Hz (every 143 μs) without any special synchronization capabilities. Latency is 144 μs at 1.25 MBaud.
DAQ F/T Fairly easy, most accurate synchronization, computer programming required to access drivers and DAQ card. Raw transducer signals can be measured together with other signals on the same data acquisition system. (Transducer signal data have to be converted to force and torque data using ATI driver.) Latency between actual event and analog output is a few microseconds. Update rate depends on data acquisition system settings.
F/T Controller Easy, no computer programming required to view data. Drivers available. F/T Controller analog outputs can be directly connected to an existing data acquisition system and measured together with other signals. Analog outputs are independently updated at the system sampling frequency. Latency between actual event and analog output is 800 μs. The maximum update rate is 2.5 kHz.
TWE F/T Fairly easy, most accurate synchronization, computer programming required to access drivers and DAQ card. Raw transducer signals can be measured together with other signals on the same data acquisition system. (Transducer signal data have to be converted to force and torque data using ATI driver.) Latency between actual event and analog output is a few microseconds. Update rate depends on data acquisition system settings.

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