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Interfaces de Sistema F/T  
 
 
Skip Navigation LinksHome > Produtos > Sensores de Força/Torque > Interfaces de Sistema



A ATI oferece cinco configurações de sistema F/T diferentes:

NET F/T

Conecta-se com a Ethernet, EtherNet/IP, DeviceNet e/ou sistemas de barramento CAN. A interface do navegador web do NET F/T permite uma fácil configuração e setup através da configuração Ethernet presente em todos os modelos NetBox. A interface Ethernet envia dados streaming de alta velocidade, utilizando pacotes UDP. Uma interface PROFINET também está disponível opcionalmente. Também disponível como opção de interface OEM, o OEM Net CAN foi projetado para ser integrado em braços pequenos de robôs. O OEM Net CAN oferece um barramento CAN e a interface serial RS-485 para comunicação com o computador hospedeiro, que desempenha os cálculos necessários utilizando os códigos fornecidos pela ATI.

Detalhes do NET F/T
Manual do NET F/T
NET F/T: Transdutor de Força/Torque de Múltiplos Eixos
NET F/T
   
Wireless F/T

Conecta à sistemas 802.11/a/b/g/n e/ou USB. Até seis transdutores podem ser conectados a uma interface Wireless F/T, dependendo do modelo. A configuração é realizada utilizando comandos simples de texto através de um protocolo telnet por TCP. Dados em streaming de alta velocidade são enviados utilizando pacotes UDP pela conexão wireless de 2.4 GHz ou de 5.0 GHz.

Detalhes do Wireless F/T
Manual do Wireless F/T

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. (Not available on Nano or Mini sensor styles)

Digital F/T Manual

Digital F/T
   
DAQ F/T

Conecta-se com uma variedade de sistemas tais como PCI, PCIe, PXI, USB e mais por meio de placas de aquisição de dados padrão. As saídas dos seis medidores de tensão do transdutor são amplificadas e condicionadas para que possam ser conectadas diretamente às entradas de placas de aquisição de dados padrão. Após a digitalização das voltagens dos medidores de tensão, o software da ATI faz os cálculos de matriz da calibragem no computador hospedeiro para converter os dados de medição de tensão em dados de força e torque.

Manual do DAQ F/T
DAQ F/T: Transdutor de Força/Torque de Múltiplos Eixos
DAQ F/T
Controlador F/T

Conecta aos sistemas por meio de um RS-232, saídas analógicas e/ou conexões E/S discretas. O Controlador F/T conecta com seu transdutor e converte seu sinal em forças e torques.

Manual do Controlador F/T
Controlador F/T: Transdutor de Força/Torque de Múltiplos Eixos
Controlador F/T
   
TWE F/T

Usado tipicamente para OEMs especiais e aplicações de pesquisa, o sistema TWE (Transdutor Sem Componentes Eletrônicos) requer amplificação e condicionamento de sinal fornecido pelo cliente. Este sistema consiste apenas do transdutor, informação de calibragem e código fonte. O cliente precisa fornecer a interface elétrica, amplificação e condicionamento de sinal de acordo com a nossa documentação. Esse procedimento requer uma habilidade de alto nível em eletrônica e experiência para entender completamente o manual do usuário. O cliente precisa também implementar uma interface de software, mas pode usar o código fornecido pela ATI para os cálculos necessários.

Manual TWE
TWE F/T: Transdutor de Força/Torque de Múltiplos Eixos
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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1031 Goodworth Dr. | Apex, NC 27539 USA
Umberto Aranha, Account Manager, +55 11 9 9232 4919
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