3. Installation

3.1. Scope of Delivery

Standard delivery for an FT Sensor kit:

3.1.1. Options

• Couplings

• Adapter plates
• Tool plates
• Different cable lengths

Please refer to the Spare Parts, Kits and Accessories section for a list of available parts.

3.2. Environmental and Operating Conditions

The FT 300 Force Torque Sensor is designed for industrial applications. Always respect the following specified storage, transport and operating environmental conditions:

3.3. Mechanical Connections

You must use a coupling to attach the Sensor to a robot. Be sure to use the coupling related to your robot model. Our couplings are listed according to ISO 9409-1 and this covers most bolt patterns. If there is no coupling for your robot, you can modify a blank coupling or Robotiq can create a custom version for you. Some couplings may require an additional adapter plate. To create your own coupling or adapter plate you can refer to the Technical Dimensions section. To see available couplings and adapter plates and for details, refer to the Spare Parts, Kits and Accessories section.

Here are the steps to follow for the installation of the Sensor (see figure below). Note that all screws must be locked in place using medium strength threadlocker, such as Loctite 248 or a similar product.

1. Align the indexing dowel pin between the coupling and the robot (usually press fitted to the robot).
2. Screw the coupling to the robot with the robot mounting screws (with lock washers if provided) and threadlocker.
3. Align the Sensor indexing dowel pins (prefixed to the Sensor) to the coupling.
4. Screw the Sensor to the coupling using the coupling mounting screws (with lock washers if provided) and threadlocker.

Fig. 3.1: Attaching the FT 300 sensor to a robot arm using the mandatory coupling.

3.4. Power Supply Specifications

The Sensor needs to be supplied by a DC voltage source. This power supply is not included with the Sensor.

3.5. Wiring

Power and communications are established with the FT 300 Force Torque Sensor via a single device cable. The FT 300 has a pigtail cable.

The figure below represents the FT 300 Force Torque Sensor receptacle (Sensor side) and connector (cable side) with associated pinout. The M12 - 5 pin A-coded connector is used in accordance with IEC 61076-2-101.

Fig. 3.2: Pinout of the Robotiq Force Torque Sensor FT 300 and color code for the respective cable type.

3.5.1. Wiring with USB to RS485 Converter

When using a RS485 to USB converter (refer to the Spare Parts, Kits and Accessories section), the wiring must respect the figure below and subsequent directions. GND / 0V is wired to Sensor pin #1 as stated in the Wiring section.

The converter will provide you with a standard USB 2.0 male A connector.

Fig. 3.3: Wiring diagram for the RS485 to USB converter

3.5.2. Wiring with RS232 to RS485 Converter

When using a RS232 to RS485 converter (refer to the Spare Parts, Kits and Accessories section), the wiring must respect the figure below.

The converted side will provide you with a standard DB - 9 female connector with signaling as shown in the figure below.

Fig. 3.4: Wiring diagram for RS232 to RS485 converter.

3.6. Installation for Universal Robots

The table below shows which Robotiq software to use with your version of Universal Robots’ controller. If you are using a CB3 or CB3.1 controller, it is recommended to use the Force Copilot URCaps Package.

Refer to the appropriate section depending on your controller version:

• The Force Copilot URCap Package section covers the installation of the Force Copilot URCap Package.
• The UR Package without URCaps section goes through the software installation procedures when not using URCaps.

Prior to any software installation, connect the white, green and bare wires to the Robotiq RS-485 signal converter (ACC-ADT-RS485-USB) as shown in the figure below. Also connect the red (24V) and black (0V) wires in the controller according to the figure below.

Fig. 3.5: Force Torque Sensor wiring to Universal Robots’ controller.

3.6.1. Force Copilot URCap Package

3.6.1.1. Installation

Follow this procedure to install the Force Copilot URCap Package.

If the Force Torque Sensor is mounted on the robot for the first time, the calibration must be performed. Refer to the Calibration Procedure with Universal Robots section for the calibration procedure.

3.6.1.2. Calibration Procedure

The sensor outputs the force and moment data according to a reference, i.e. a zero value. In order to compensate for any deviation of this reference, Robotiq provides a feature which allows the sensor to automatically compute and compensate the installation offset, the weight of the tool and its center of mass.

The procedure requires moving the robot arm in three configurations for which each orientation of the tool is different. Using an internal accelerometer, the sensor is then able to associate the measurements corresponding to the tool alone for each orientation. After the procedure is completed, the sensor will output the force and moment values measured without the effect of the weight of the tool and the installation offset.

Calibration Procedure with Universal Robots

1. On the teach pendant, tap the Installation button in the ribbon at the top of the screen.
2. Select URCaps in the navigation pane on the left of the screen.
3. Tap the Force Copilot button.
4. Select the Calibration tab

1. From the PolyScope home page, tap Program Robot.

2. Go to the Installation tab and tap FT Sensor in the left pane. The FT Sensor's Dashboard will be displayed. Tap the Calibration tab.

3. Tap the Start calibration wizard button to perform the calibration of the FT Sensor. Make sure there are no external forces applied to the Sensor while performing the calibration.

4. Step 1 consists in moving the robot arm so that the FT Sensor's X axis points downward. Tap Continue when the action is done.

5. Step 2 consists in moving the robot arm so that the FT Sensor's Y axis points downward. Tap Continue when the action is done

6. Step 3 consists in moving the robot arm so that the FT Sensor's Z axis points downward. Tap Continue when the action is done

Calibration Procedure for the Visual Demo Software (PC)

To calibrate your FT Sensor:

1. Go to the "Tool Calibration" tab and follow the instructions.

   

2.  Once completed, go to the "Sensor Data" tab.

   

3.6.1.3. Payload/CoG

The payload and center of gravity values can be accessed through the Calibration menu in the Installation tab, after the calibration is completed. They include the mass and center of gravity of the Sensor.

3.6.1.4. ActiveDrive Toolbar Installation

To install the ActiveDrive toolbar :

1. Visit support.robotiq.com and download the latest ActiveDrive toolbar installer (ADU-X.X.X) in the Documentation Archives section.
2. Extract the files on a blank USB stick.
3. Connect the USB stick in the Universal Robots’ teach pendant or controller.
4. Installation is automatic. The pendant’s screen will show installation status.
5. Do not remove the USB stick before the installation is completed.
6. Once the installation is completed, the ActiveDrive Toolbar button will appear on the teach pendant’s screen after a short delay.

3.6.1.5. Firmware upgrade

A firmware upgrade might be necessary when updating the Force Copilot URCap. From the PolyScope home page, go to Program Robot and tap the Installation tab. Select FT Sensor in the left pane and tap the Dashboard button. If an upgrade is needed, the Upgrade firmware button will display. Tap the button and wait for the upgrade to be completed.

3.6.1.6. Uninstalling the URCap Package

If you wish to uninstall the Force Copilot URCap, follow this procedure:

3.6.1.7. License Agreement

END-USER LICENSE AGREEMENT

YOU SHOULD CAREFULLY READ THE FOLLOWING AGREEMENT BEFORE USING THE SOFTWARE (as this term is hereinafter defined). Using the Software indicates your acceptance of the agreement. If you do not agree with it, you are not authorized to use the Software.

IMPORTANT, READ CAREFULLY: This End-User License Agreement (the “Agreement”) is a legal agreement between you and the Licensor (as this term is hereinafter defined), the licensor of the Software. This Agreement covers the Software. The Software includes any “on-line” or electronic documentation and all modifications and upgrades related thereto. By downloading, installing, or otherwise using the Software, you agree to be bound by the terms of this Agreement. If you do not agree to the terms of this Agreement, the Licensor cannot and does not license the Software to you. In such event, you must not download, use or install the Software.

1. Definition.

1.1.  “UR” means Universal Robots A/S, a corporation incorporated under the laws of Denmark, having its registered office at Energivej 25, DK-5260 Odense S, which specializes into the conception, advanced manufacturing and sale of robotic products (the “UR’s Business”);

1.2.  “Software” means any of the Licensor’s software provided to its customers for the purposes mentioned in sub-section 2.2 hereof including their modifications and upgrades and their related materials;

1.3.  “Licensor” means Robotiq inc., a corporation incorporated under the laws of Quebec, having its registered office at 500-966 chemin Olivier, Lévis, Québec, Canada, G7A 2N1, which specializes into the conception, advanced manufacturing and sale of robotic products (the “Licensor’s Business”);

1.4.  “End-User” means a customer authorized pursuant to this Agreement to install or use the Software with a specific product of the UR’s Products;

1.5.  “Licensor’s Products” means those robotic products developed by the Licensor in the course of the Licensor’s Business;

1.6.  “UR’s Products” means those products developed by UR in the course of the UR’s Business;

1.7.  “Licensor’s Authorized Representatives” means and includes the Licensor and Licensor’s authorized vendors, resellers, distributors and licensors;

1.8.  “Designated Equipment” means a personal computer that has a functional USB port and an operating system that is an equivalent or a more recent version of one of the following:

• Windows 7;
• Mac OSX;
• Linux Ubuntu 16.

1.9.  “Purchase Agreement” means an agreement between the End-User and the Licensor pursuant to which the End-User purchased one or more of the Licensor’s Products;

1.10.  “Trial Period” means the limited period during which the Software may be installed on the UR’s Product and used without any charge by the End-User in order to be used without a Licensor’s Product.

2. License and Object of the Agreement.

2.1.  License. Subject to the terms and conditions hereof, the Licensor grants to the End-User a personal, temporary, non-exclusive, non-assignable and non-transferable and revocable license to use the Software in accordance with the terms and conditions hereof.

2.2.  Object of the Agreement. The object of this Agreement is the grant of a license for the use of software that enables control functionalities of UR’s Products devices or Licensor’s Products (the “Purpose”).

3. Software and Documentation.

3.1.  Download. The Software shall be downloaded from the Licensor’s website or provided to the End-User through a USB flash drive, according to the instructions set forth in the order summary sent to the End-User by email or by other means of communication, as decided by the Licensor (the “Order Summary”). The download of the Software shall be made with the End-User’s Designated Equipment.

3.2.  Installation. The installation on the UR’s Product shall be done with a USB flash drive inserted into the UR’s Product. If the Software was downloaded from the Licensor’s website, it shall be uploaded on a USB flash drive device for the purpose of installation on the UR’s Product.

3.3.  Utilisation. Two scenarios are possible according to the modalities set forth in the Order Summary:

a) The use of the Software is made with a Licensor’s Product. In this case, the End-User may start using the Software upon completed installation.

b) The use of the Software is made without a Licensor’s product. In this case, a Trial Period is granted to the End-User. At the end of the Trial Period, which shall be set forth in the Order Summary, the use of the Software requires the software protection dongle (the “Dongle”). The Dongle will be provided to the End-User for a fee as per section 5 of this Agreement, either by the Licensor or by a Licensor’s Authorized Representative.

3.4.  Documentation. The Licensor may provide, if applicable, all documentation containing the detailed specifications for operation and use of the Software, which Software shall be used in accordance with such documentation. This documentation, if applicable, will be provided, wholly or in part, within (i) this Agreement, (ii) the Licensor’s Web site http://robotiq.com/ (iii) the Licensor’s Products and the Purchase Agreement therewith, or (iv) any other agreement, document, support, whatsoever decided by the Licensor.

4. Modifications and Upgrades. The Licensor shall be under no obligation to provide any upgrade, modification or patch to the Software. However, the End-User shall be entitled to receive free of charge the upgrades and patches of the Software provided by the Licensor if, at such time, the End-User is not in default in respect of any of its obligations contained herein. Modifications that create new functionalities may be offered to the End-User at a price set by the Licensor at its sole discretion.

Such modifications, upgrades and patches of the Software shall be installed by the End-User itself by consulting the Licensor’s website http://robotiq.com/ where a link to proceed to such installation will be made available thereof.

5. Fees. The End-User shall pay the Licensor for using the software as per the Order Summary. The fees shall cover upgrades and patches of the Software provided by the Licensor if, at the time of the upgrade or patch, the End-User is not in default in respect of any of its obligations contained herein.

New End-Users not using the Licensor’s Products will be entitled to a Trial Period, which shall begin on the date of the first installation on the UR’s Product and which shall end after the Trial Period as determined in the Order Summary.

6. Maintenance. During the term of this Agreement, the Licensor will maintain the Software in an operable condition and will make available any corrections and improvements as are generally incorporated in the Software by the Licensor without additional charge to the End-User.

7. Title to Software. The licensed Software is composed of confidential data and trade secrets and is proprietary to and constitutes trade secret information and intellectual property of the Licensor. Title and ownership rights to the Software, including the intellectual property rights related thereto, shall remain with the Licensor. The End-User agrees to maintain the confidential nature of the source code and libraries.

The license granted herein does not include the right to sublicense to others, and may not be assigned to others, in whole or in part, without the prior written consent of the Licensor. The End-User may not or allow others to modify or prepare derivative works, copy (except for normal backups for recovery purposes), reproduce, republish, reverse engineer, upload, post, transmit, or distribute, in any manner, the Software.

8. Restricted Use. The Software shall be used solely and exclusively by the End-User and its employees for the Purpose mentioned in sub-section 2.2 hereof. Any other use of the Software, including resell derivative modifications or extensions, is expressly prohibited.

9. Audit. During the term of this Agreement and for six (6) months after the termination, the Licensor shall have the right, during normal business hours and upon reasonable advance notice to the End-User, to visit the End-User’s premises for the purpose of auditing the End-User’s use of the Software to confirm that such use is in accordance with this Agreement or to confirm that the End-User has ceased the use of the Software after the termination of the Agreement. The costs of such audit shall be borne by the Licensor unless it determines that the End-User has underpaid it for any twelve-month period by five per cent (5%) or more or that the use of the Software is not in accordance with the Agreement; in such case, the End-User shall pay the costs of the audit and such underpayment.

10. Exclusion of Warranty on Software. The End-User expressly acknowledges and agrees that use of the Software is at the End-User sole risk. The Software is provided “as is”. The Licensor warrants that, during the term of this Agreement and except if modified by the End-User, the Software will meet in all material respects the specifications provided for in the Licensor’s website.

11. Limitation of liability. To the maximum extent permitted by law, the Licensor and Licensor’s Authorized Representatives shall not be liable for any indirect, incidental or consequential damages for breach of any express or implied warranty, breach of contract, negligence, strict liability or any other legal theory related to the Software. Such damages include, but are not limited to, loss of profits, loss of revenue, loss of data, loss of use of the product or any associated equipment, down time and user’s time, even if the Licensor has been advised of the possibility of such damages. In any case, the Licensor’s entire liability under any provision of this agreement shall be limited to the amount actually paid in respect of the Licensor’s products purchased by the end-user pursuant to a purchase agreement.

12. Indemnification. The End-User shall indemnify and hold the Licensor harmless from any liability, loss, claim and from any judgment, damage and cost (including, without limitation, the costs and fees of a dispute and reasonable legal fees), fine, penalty and interest whatsoever arising from any defence, dispute, compensation, claim or counterclaim as a result of the use of the Software by any third party authorized by the End-User.

13. Training, Maintenance and Support. There is no entitlement to training, maintenance and support under this license unless otherwise specified in the Purchase Agreement or any other written agreement between the End-User and the Licensor. The End-User may provide the Licensor with details regarding any bug, defect or failure in the Software promptly and with no delay from such event; the End-User shall comply with the Licensor’s request for information regarding bugs, defects or failures and furnish him with information, screenshots and try to reproduce such bugs, defects or failures upon Licensor’s demand.

14. Expiration and Termination. The Licensor may terminate this Agreement for default by the End-User by sending a ten (10) day notice to the End-User.

Upon the termination of this Agreement for any reason, the End-User shall promptly uninstall the Software on any UR’s Products and Licensor’s Products, computer, or server on which it has been installed, deliver to the Licensor all CDs, DVDs, USB flash drives, and other tangible items and materials embodying the Software, and return to the Licensor all copies thereof or destroy such copies and warrant in writing that all copies thereof have been destroyed or deleted. In the event of the termination of this Agreement, all obligations of the parties under this Agreement due for performance on the date of termination shall survive the termination, and the party terminating shall not be liable to the other party for any damages arising out of the termination.

15. Miscellaneous.

15.1.  This Agreement constitutes the entire understanding and agreement between the Licensor and the End-User and replaces any prior agreement relating to the same subject matter.

15.2.  This Agreement shall be governed and construed in accordance with the laws of the province of Quebec and the federal laws of Canada applicable therein. Any legal action or proceeding between the Licensor and the End-User for any purpose concerning this Agreement or the parties' obligations hereunder shall be brought exclusively in a court of competent jurisdiction sitting in the judicial district of Québec, Québec.

15.3.  The Licensor’s failure to insist upon or enforce strict performance of any provision of this Agreement shall not be construed as a waiver of any provision or right. Neither the course of conduct between the parties nor trade practice shall act to modify any provision of this Agreement.

15.4.  The Licensor may assign its rights and duties under this Agreement to any party at any time without notice to the End-User. The End-User may not assign this Agreement without the prior written consent of the Licensor.

15.5.  If any part of this Agreement is null, illegal or non-enforceable, this Agreement shall be interpreted as if this part was never part of this Agreement.

15.6.  The provisions of this Agreement are for the benefit of the Licensor and its officers, directors, employees, agents, licensors and suppliers. Each of these individuals or entities shall have the right to assert and enforce those provisions directly against the End-User on its own behalf. This Agreement is also for the benefit of, and binds, the End-User and its heirs, successors, legal representatives and permitted assigns.

15.7.  The Licensor hereby confirms that there is no relationship of agency between the Licensor and UR, and that they are independent contractors.

15.8.  Any rights not expressly granted herein are reserved.

15.9.  The parties confirm that they have agreed that this Agreement and all related documents be drafted in English only. Les parties aux présentes confirment qu’elles ont accepté que la présente convention et tous les documents y afférents soient rédigés en anglais seulement.

3.6.2. UR Package without URCaps

If your Universal Robots controller is not compatible with the URCaps package (refer to the Installation for Universal Robots section for compatibility), you can install the driver package and ActiveDrive Toolbar separately.

The ActiveDrive Toolbar allows to easily move the robot by hand guiding it. This section applies to Robotiq’s software installation when not using URCaps.

3.6.2.1. Driver Package Installation

To install the driver package, follow this procedure:

1. Download the Robotiq Force Torque Sensor software driver package (DFU-X.X.X) from the Documentation Archives.
2. Extract the content of the .zip file on a blank USB flash drive.
3. Plug the flash drive into the robot controller or teach pendant.
4. Installation is automatic. The pendant screen will show installation status. Do not unplug the flash drive until the operation is completed.
5. When a green "USB" text is shown, unplug the USB drive.

Calibration

If the Force Torque Sensor is mounted on the robot for the first time, calibration must be performed. Refer to the Calibration Procedure section for details.

Testing the software package

• In PolyScope, load the program test_sensor.urp located in the Sensor folder and execute it. The program will display pop-ups with the following information: Sensor firmware version, production year and serial number. The force and torque readings for Fx, Fy, Fz, Mx, My and Mz are displayed in the Variables tab.

Removing the Package

1. Locate the uninstall.sh file provided in the driver package.
2. Copy the file on a blank USB stick.
3. Rename the file to urmagic_uninstall.sh.
4. Plug the USB stick into the UR controller or teach pendant.
5. Uninstallation is automatic.

3.7. Status LED

A single status LED provides information on both Sensors, detailed information can be found in the tables below, while a representation of both Sensor status LEDs is shown in the figure below.

On the FT 300 Sensor, the cable sleeve is the LED conductor:

Fig. 3.6: FT Sensor status LED.