F/T CAN Bus and Serial Bus Network Interface for OEM
Contents
1. Doc No ATS 011020022 Release Date 07 25 02 UNCONTROLLED COPY Page 1 of 2 Revision K Revision Date 05 26 09 Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ati ia com e Email info ati ia com 27 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 Insertion and Extractor Tool OPERATION For Insertion of 70021 70028 70058 70110 and 71851 Terminal Series Individual terminals may be inserted in the housing using this Insertion tool INSERTIION TOOL 1 To properly use this tool with the flat side facing up place pura the step of the tool into the terminal under the locking tangs See Figure 1 Push the terminal into the housing WINDOW N TERMINAL until the locking tangs are visible through the window FOR The terminal then should be locked in place LOCKING TANGS Optional The terminal can be partially inserted in the terminal Figure 1 housing first and then the Insertion tool can be used to firmly seat the terminal Note Please do not forcefully insert insert on an angle or insert with twisting action It may damage the tool or the housing For Extraction of 91821 Terminal Series TOOL IN SLOT EXTRATOR PUSH DOWN TOOL Individual terminals may be extracted from the housing LOCKING TANG using this Tool WIRE 1 Push the terminal and the wire forward2. Make sure that the CAN bus is correctly terminated Use DIP switch SW2 position 2 to add remove the on board termination resistor Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ali ia com e Email info ati ia com 23 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 10 2 3 Errors with Force and Torque Readings Bad data from the transducer s strain gages can cause errors in force torque readings These errors can result in problems with transducer biasing and accuracy Listed below are the basic conditions of bad data Use this to troubleshoot your problem Question Problem Answer Solution Noise Jumps in raw strain gage readings with transducer unloaded greater than 80 counts is considered abnormal Noise can be caused by mechanical vibrations and electrical disturbances possibly from a poor ground It can also indicate component failure within the system Make sure that the DC supply voltage for the NETCANOEM has little to no noise superimposed Drift After a load is removed or applied the raw gage reading does not stabilize but continues to increase or decrease This may be observed more easily in resolved data mode using the bias command Drift is caused by temperature change mechanical coupling or internal failure Mechanical coupling is caused when a physical connection is made
3. J1 Screw Terminal 5 pin Combicon MPT Screw Terminal Phoenix Contact 1725685 Maximum load current 6A 2 n 2 Conductor cross section min 0 14 mm 2 Conductor cross section max 0 5 mm Signal Name Description 1 CAN L CAN BUS 2 CAN H CAN BUS 3 DRAIN Serial Interface Shield 4 SL VP Power Supply Positive 5 SL GND Power Supply Ground Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ali ia com e Email info ati ia com 11 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 4 1 5 J2 Screw Terminal 5 pin Combicon MPT Screw Terminal Phoenix Contact 1725685 Maximum load current 6A Conductor cross section min 0 14 mm 2 Conductor cross section max 0 5 mm Signal Name Description 1 SL GND Power Supply Ground 2 SL VP Power Supply Positive 3 DRAIN Serial Interface Shield 4 CAN H CAN BUS 5 CANL CAN BUS 4 2 Switches The following switches are available on the Analog to CAN PCB Assembly 4 2 1 SW1 This push button switch is currently unused 4 2 2 SW2 The two position DIP switch has the following functions Position ON OFF Description ON Default settings ON OFF Default settings OFF j ON CAN bus termination activated OFF No CAN bus termination active 4 3 LEDs One dua
4. After the above steps are completed strain gage data can be requested as often as desired until a reset or power cycle Note The NETCANOEM does not store the active calibration setting in its nonvolatile memory It will always default to calibration slot O after reset This allows for indefinite calibration changes without using up the limited amount of write cycles of the EEPROM memory A transducer with multiple calibrations can for example be used with a coarse and a fine measurement range In this case frequent calibration changes may be required 8 2 Request Strain Gage Data The Read SG Data command returns the six 16 bit strain gage values and a 16 bit status code In order to compensate the transducers offset errors it is recommended to establish a bias vector as often as possible 8 3 Calculating Force and Torque Data To obtain force and torque data the strain gage values signed 16 bit format have to be multiplied with the calibration matrix 4 byte floating point format of the transducer Figure 7 1 illustrates the generic F T matrix calculation procedure The result of the matrix multiplication has to be divided by the Counts per Force CpF and Counts per Torque CpT respectively CpF and CpT values can be obtained from the transducer s calibration file and with NETCANOEM firmware revision 3 7 and higher also over the CAN interface For any MINIAS calibration the value of CpF and CpT is 1000000 Instead of dividing th
5. returned to ATI for calibration or repair it is important that this number is present The transducer connector has no strain relief To protect the fragile crimp contacts it is important to provide a suitable strain relief in the final product 9 4 Ground and cable shield considerations There are several options for connecting the transducer cable shield 1 Ifthe transducer is connected to chassis ground then don t connect the cable shield since the shield is connected to the transducer body and such to chassis ground 2 Ifthe transducer is isolated then a Connect the cable shield to chassis ground or b Connect the cable shield to the Drain connection on the board J1 3 or c Connect the cable shield to power ground J1 5 You may have to experiment to find the best solution for EMC compliance and best noise performance Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ali ia com e Email info ati ia com 21 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 9 5 Power Supply Considerations The NETCANOEM can be supplied with a DC voltage between 12V to 24V To achieve lowest noise on the strain gage data it is recommended to keep the power supply ripple as low as possible 9 6 Available tools Adapters and Spare Parts To support system assembly and debug ATI can supply the following Molex SL con
6. 2 mbps is divided by this value 1 to generate the effective baud rate E g value 3 gt divisor 4 gt baud rate 500kbps One response packet with opcode b1110 with no data The command will take effect at the next powerup biiii Read or Firmware OxF version None One response packet with opcode b1111 with 4 bytes of data The first byte is the major version the second byte is the minor version and the next two bytes are the build number Example To read the strain gage data from a NETCANOEM with base identifier 0x20 you have to add the op code b0000 b stands for binary which results in the identifier 0x200 Ox stands for HEX In a similar way you add the op code b1100 OxC which results in the identifier 0x20C in order to reset the NETCANOEM Only available in firmware versions 3 8 x and higher Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ali ia com e Email info ati ia com 15 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 5 3 NETCANOEM Status The NETCANOEM periodically performs several diagnostic checks to determine if the strain gage measurement data are valid The diagnostic status is transmitted with each data sample In case of a critical error see Table 5 2 the NETCANOEM will not stop transmitting strain gage data It is the respons
7. ATI components within any potentially life threatening system must obtain ATI s prior consent based upon assurance to ATI that a malfunction of ATI s component does not pose direct or indirect threat of injury or death and even if such consent is given shall indemnify ATI from any claim loss liability and related expenses arising from any injury or death resulting from use of ATI components All trademarks belong to their respective owners Windows is a registered trademark of Microsoft Corporation Note Please read the manual before calling customer service Before calling have the following information available Serial number e g FT01234 Transducer model e g Nano17 Gamma Theta etc Calibration e g US 15 50 SI 65 6 etc Accurate and complete description of the question or problem Computer and software information Operating system PC type drivers application software and other relevant information about your configuration If possible be near the F T system when calling How to Reach Us Sales Service and Information about ATI products ATI Industrial Automation 1031 Goodworth Drive Apex NC 27539 USA www ati ia com Tel 1 919 772 0115 Fax 1 919 772 8259 E mail info ati ia com Technical support and questions Application Engineering Tel 1 919 772 0115 Option 2 Option 2 Fax 1 919 772 8259 E mail ft_support ati ia com Pinnacle Park e 1031 Goodworth Drive e Apex NC
8. FzG4 FzG5 TxG0 TxGI TxG2 TxG3 TxG4 TxG5 TyG0 TzGI TyG TyG3 TyG4 TyG5 TzG0 TzGl TzG2 TzG3 TzG4 TzG Operations marked RED are to be performed for each measurement sample Operations marked BLUE are to be performed only once at the beginning of a measurement ATTENTION When one of the strain gage data reads the positive or negative maximum nominally 32768 or 432767 that gage is saturated This can for example be caused by a broken transducer cable In this case the sensor data is not usable anymore It is the responsibility of the receiving application to handle this error situation appropriately e g request maintenance Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ali ia com e Email info ati ia com 19 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 9 Hardware Installation 9 1 PCB Mounting The NETCANOEM provides three mounting holes One of these marked C in the picture below provides a path to the drain connection of the CAN bus and the RS485 cable For best EMI performance C should get connected to chassis ground Figure 8 1 PCB Mounting ULER LH e er y To minimize PCB vibration all three mounting holes should be used 9 2 Transducer Connector Assembly A Nano or Mini MSL transducer is shipped with its crimp contacts not inserted in
9. between the tool plate and the transducer body i e filings between the tool adapter plate and the transducer body Some mechanical coupling is common such as hoses and wires attached to a tool Hysteresis When the transducer is loaded and then unloaded gage readings do not return quickly and completely to their original readings Hysteresis is caused by mechanical coupling explained in Drift section or internal failure Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ali ia com e Email info ati ia com 24 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 11 Specifications 11 1 Storage and Operating Conditions Table 10 1 Temperature Component Storage Temperature C Operating Temperature C NETCANOEM 40 to 100 20 to 80 9105 MINI45TH12 AE 0 40 MSL See manual See manual 9620 05 Transducer Section 9620 05 Transducer Section 11 2 Electrical Specifications Table 10 2 Power Supply Power Source Poe ee a DCIN through J1 J2 or P1 12V 25V 2 5W The NETCANOEM power supply input is protected against wrong polarity 11 3 Weights and Dimensions Table 10 3 Weights and Dimensions Component Weight approx Dimensions NETCANOEM PCB Assembly 22g 0 70z See drawing in Section 12 1 9105 MINI45TH12 AE 0 40 MSL See manual See
10. manual 9620 05 Transducer Section 9620 05 Transducer Section With Mini45 transducer connected to the 9010 05 1059 Analog To CAN PCB Assembly Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ati ia com e Email info ati ia com 25 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 12 Drawings 12 1 9010 05 1059 Analog to CAN PCB Assembly Z9 1 G0 08z6 a EZ i gus LEH p gOLLGO 123r054 NOIL23FO NONY P HAWAN ONIM v i avos Aiquassy god NVO 0 Bojeuy 60 P Z uosueMS Q 303535 B suu 60 C ZL o0Snj d usmmvaa HY JON ANY NI Q3 JON NI NOUYWOINY Tvlais i Kuediuo peJejsibey 1006 OSI I WORN MMM 6628 24 616 1 X64 kr hn d LZ woo er ye opul pew SL0ZZ 616 L PL VSN 66642 ON xedy BAUG uuowpoos LEOL epis do 1u6ieH 3jueuoduio xew c NI JJV SN ONIMV3O 3 QBio3ds JSIMSFHLO SSJINN S31ON 9piS woog S8 I 1uBrep jueuoduio xen 102 6 Z iD apa Joou NO OD u2ioN Woy jouotido parowy 0 1 O23 uodusseq 0 OL XZ S80Z L6 GL XPIOW ANS V 4 0L uonisod g JepeeH Zd E 1180 86 S XPIOW QINS HAA uuigz uonisod g JapeaH td t Uld Jo uoneoo sajeoipul G89SZLL 1298 u0 xiueoug jeuiuue M HS IdW uoolquiog uld G A g Ir TE
11. over a high speed RS485 interface to the NetBox where they get converted to force and torque values The F T values can then be accessed via Ethernet The NETCANOEM can be supplied with a DC voltage between 12V and 24V DC Figure 4 2 NETCANOEM Block Diagram C Mounting Hole SPI Bus EN Strain Gage Inputs O Strain G Amplifi 6 ch 16 bi as HS train Gage Amplifiers channel 16 bit with Programmable Gain Analog to Digital aes and Offset converter Drain P2 RS232 RS485 Pi 475 Transceiver T Strain Gage Excitation Micro Controller CAN CAN Transceiver Ji J2 NETCANOEM FION 12VDC to 24VDC Block Diagram 5V Power Supply a 5V Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ali ia com e Email info ati ia com 9 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 Figure 4 3 NETCANOEM Top View P2 Transducer Connector SW2 1 DIP Switch to turn default settings on off 2 DIP switch to turn CANbus termination on off DIP Switches are shown in the OFF position P1 NetBox Interface Connector J1 CAN bus and Power Supply Screw Terminals J2 CAN bus and Power Supply Screw Terminals SW1 Pushbutton swi
12. the connector housing This will allow feeding the transducer cable through a robot arm or other tight spaces Please follow the directions given in Section 12 2 Insertion and Extractor Tool for Transducer Connector Contacts to insert the contacts into the connector housing Insert the crimp contacts according to Figure 8 2 Figure 8 2 Cable color assignment Pin 8 Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ati ia com e Email info ati ia com 20 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 Table 8 1 Transducer Connector Pin Assignments Color Signal Pin Red V 1 Black V 2 Green SGO 3 Orange SG1 4 Violet SG2 5 Blue SG3 6 Yellow SG4 7 Brown SG5 8 Note Due to the thin transducer wires AWG 36 the connection between crimp contact and wire is very delicate about 0 5 lbs max pull strength Care has to be taken when handling these contacts Don t pull on the wires instead grab the contact at its end Figure 8 3 Crimp Connection Grab here Do not pull on wire 9 3 Transducer Handling In addition to the standard transducer handling instructions see Manual 9620 05 Transducer Section for details the following should be observed The transducer calibration label FTxxxx must not be removed or painted over If a transducer gets
13. transducer surface that attaches to the load to be measured Transducer Transducer is the component that converts the sensed load into electrical signals Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ali ia com e Email info ati ia com 5 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 1 Safety The safety section describes general safety guidelines to be followed with this product explanation of the notification found in this manual and safety precaution that apply to the product More specific notification are embedded within the sections of the manual where they apply 1 1 General The customer should verify that the transducer selected is rated for maximum loads and moments expected during operation Refer to F T Transducer Manual 9620 05 Transducer Section Installation and Operation Manual found in Net F T Installation and Operation Manual 9610 05 1022 or contact ATI Industrial Automation for assistance Particular attention should be paid to dynamic loads caused by robot acceleration and deceleration These forces can be many times the value of static forces in high acceleration or deceleration situations 1 2 Explanation of Notifications The notifications included here are specific to the product s covered by this manual It is expected that the user heed all notifications from the robot ma
14. 0o me M neer eee 25 jam Scc ueite rurtpeen PER TE 25 TLA ipii SCAG AONE e ERES 25 Tid Werhe and DINMOMSIONS IRE 25 DH c o See eee ee eee ee ee ee eee 26 12 1 9010 05 1059 Analog to CAN PCB Assembly sesssssssssssssseseeee entente tnnt nnns 26 12 2 Insertion and Extractor Tool for Transducer Connector Contacts sssssssssss 27 13 Termsand Conditions of Sale ses sca te aaa Saa a aE 29 Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ali ia com e Email info ati ia com 4 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 Glossary Terms Definitions CAN Controller Area Network CAN is a low level message based communication protocol E Exit ATI s E Exit transducers have a cable with an over molded strain relief F T Force Torque F T Transducer Converts force and torque into an electrical signal MAP The Mounting Adapter Plate MAP is the transducer plate that attaches to the fixed surface or robot arm MOLEX SL Product series from the connector manufacturer Molex Net Box The component that contains the power supply and network interfaces of the Net F T system It can alternatively be used to interface with the NETCANOEM STG Strain Gage TAP Tool Adapter Plate TAP is the
15. 16 02 0098 16 02 0099 16 02 0100 16 02 0101 16 02 0 16 02 0103 02 0104 02 0131 16 02 0135 16 02 0137 16 02 0139 16 02 0140 16 02 0 16 02 0144 16 02 0147 02 0150 16 02 0151 16 02 0152 70058 0069 58 0082 70058 0083 70058 0084 70058 0086 70058 0087 70058 0088 70058 0096 70058 0097 58 0099 70058 0102 70058 0103 70058 0104 70058 4069 70058 4084 70058 4086 10058 4096 58 4099 i 10058 4102 10058 5001 40 07 4826 07 4827 40 07 4828 40 07 4829 40 08 0827 40 08 4827 40 08 4828 40 08 4829 40 08 4877 08 4878 40 12 4827 40 12 4828 40 12 4829 40 12 4847 40 12 4848 40 12 4849 40 12 4907 12 4908 i i 16 02 0119 02 1109 16 02 1110 16 02 1111 16 02 1112 16 02 1113 16 02 1114 16 02 1115 16 02 1116 02 1117 16 02 1118 16 02 1119 16 02 1120 16 02 1121 16 02 1122 16 02 1123 16 02 1124 02 1125 11851 0119 71851 1110 71851 1112 71851 1114 71851 1115 71851 1116 71851 1118 71851 1119 71851 4110 71851 4112 71851 4114 71851 4116 71851 4118 71851 4119 71851 8022 91821 0001 91821 0003 16 02 0077 16 02 0105 16 02 0113 40 08 0871 40 08 4832 40 12 4835 16 02 0069 02 0078 2 0106 2 0114 8 0872 8 4833 70021 70028 gt a gt gt gt A mee FS SY PI G2 EEA o
16. 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ali ia com e Email info ati ia com 2 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 Table of Contents d 2 How to Fre di 2 Dti Re s 00 Pt 3 cnn 95 A 5 jn n Msm 5 DEME 6 MET Ou TRES DEREN 6 Te Explanation or NONON aarp Edd ca bob REO er rere Dr PR E Ud Qa ER EN PP QUT RE Dei FREE CQU TR errr errr err ef 6 DAD Ro E as nc EC eOcH A UNE A dtt Tene A A E E UR PCIE DE USED 6 qo WPT ANNUM A pe otavissres arab edente bo en beste done Vaan ewan LUN aru targa KOC Lcx ala EUM RN vv EV SV AEN E 6 2 lor 7 Compatible O 8 aj A 8 4 NEIGANOGOEM F T Interface BOSE intenti tat nao ine ein Sata Luca Gaio ne bas ela Sa Ga
17. Drive Apex NC 27539 USA Phone 1 919 772 0115 Fax 1 919 772 8259 Email ft support ati ia com Note Please read the F T manuals before calling customer service When calling have the following information available 1 Serial number s 2 Transducer type e g Nano17 Gamma Theta 3 Calibration e g US 15 50 SI 130 10 4 An accurate and complete description of the question or problem 5 f possible all information that is displayed on Net F T page System Info manuf htm The NETCANOEM has to be connected to a NetBox to access the System Info If possible the F T system should be accessible when talking with an ATI Industrial Automation customer service representative 10 2 Questions and Answers 10 2 1 Powering Up Question Problem Answer Solution LED stays red after power up phase There may be an internal error in the NETCANOEM Check the status register for further details LED blinks green after power up phase DIP switch SW2 position 1 is set to the ON position NETCANOEM operates with default settings 10 2 2 CAN Bus Communication Question Problem Answer Solution LED blinks red A CAN bus communication error has occurred No CAN communication Make sure that baud rate and base identifier are set correctly Return NETCAMOEM board to default to verify communication refer to Section 5 1 Reset Default Settings No or intermittent CAN communication
18. INDUSTRIAL AUTOMATION IS0 9001 Registered F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 4 9610 05 1030 02 July 2013 Engineered Products for Robotic Productivity Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 e Tel 919 772 0115 e Fax 919 772 8259 e www ati ia com e Email info ati ia com F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 Foreword Information contained in this document is the property of ATI Industrial Automation Inc and shall not be reproduced in whole or in part without prior written approval of ATI Industrial Automation Inc The information herein is subject to change without notice and should not be construed as a commitment of ATI Industrial Automation Inc This manual is periodically revised to reflect and incorporate changes made to the F T system ATI Industrial Automation Inc assumes no responsibility for any errors or omissions in this document Copyright by ATI Industrial Automation Inc Apex North Carolina USA All Rights Reserved Published in the USA In consideration that ATI Industrial Automation Inc ATI products are intended for use with robotic and or automated machines ATI does not recommend the use of its products for applications wherein failure or malfunction of an ATI component or system threatens life or makes injury probable Anyone who uses or incorporates
19. S JON Bally SIU u syuguodwo9 eL ON GoD 9U0Z sued ON 686 peoeds Ajenb3 easy peld 66 G MUL ore xe euoz sued ON Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ali ia com e Email info ati ia com 26 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 12 2 Insertion and Extractor Tool for Transducer Connector Contacts Insertion and Extractor Tool Insertion and Extractor Tool molex Instruction Sheet Nef Order No 11 02 0022 HTA60615 FEATURES This tool is designed to insert series 70021 70028 70058 70110 and 71851 terminals into crimp housings Series 70066 and 70107 This tool is designed to extract series 91821 terminals from crimp housings Series 91935 SCOPE Products 2 54mm 100 Pitch SL and Picoflex Discrete Wire Crimp Terminals Terminal Terminal Order No Series No 16 02 0079 16 02 0080 16 02 0081 16 02 0091 16 02 0092 16 02 0 02 0107 16 02 0108 16 02 0109 16 02 0110 16 02 0111 16 02 0 02 0115 16 02 0116 16 02 0117 70021 0081 70021 0114 70021 0 08 0873 40 08 0874 08 4834 40 08 4860 40 12 4831 40 12 4832 40 12 4833 40 12 4834 2 4836 12 4943 40 12 4944 10028 0005 02 0074 16 02 0082 16 02 0083 16 02 0084 16 02 0085 16 02 0086 16 02 00 16 02 0088 2 0096 16 02 0097
20. ailes pelen posta dc te aao the deus 18 B3 Galculating Perce and Torque Este eec pH D dieta toten testudine at ed 18 9 Hardware InStallaony 20 gi PP TORU aum ceto btute aicavniadateg A qu btabqastuie de pure beta ds heus bebendi ebbe bela En 20 92 Transducer Connector ASS MOY usi eror ores b erii Dee Ta ist t bpD oee ASO Ea EAAS NRA Eos DA RE Eee neat 20 SICNEN IC EUe acit ale E E a 21 94 Ground and cable shield considerations iius suec endaeec occa tee eren ay atta aN adeb a naro sb nas 21 Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 eFax 1 919 772 8259 ewww ati ia com e Email info ati ia com 3 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 OS Towsroupply GonsidsraligllB uucaqepev uucenaze ubi ut rasch a anuo usa ee erue 22 9 6 Available tools Adapters and Spare Parts eerte tte rt net oe nmt ee er sin 22 LUNES IS uui 23 ACA JBIOSUOHON oeierDiio RENI MIHI EI un MIT RI Soa E healt uid CUR E NINE e EpL Ter 23 10 2 TOUGSTIONS and ANS WONG cius Dao et et tts rerdqite bb terdidd esed ita tuique eu fot D e ter EE 23 DUM disi oT 23 10 2 2 CAN Bus Communia asnssnsnannnn n R dr ETE COPI ES RR 23 10 2 3 Errors with Force and Torgue Readings uisus ceediet ee etd pecore teta eco pedes mesi aber na 24 SEE 0 0o
21. another packet with the opcode b0001 which contains the three two byte values sgi sg3 and sg5 total of six bytes It will be necessary to reorder the strain gauges to the order sgO sg1 sg2 sg3 sg4 sg5 before performing the matrix multiplication Alternatively you can rearrange the order of the columns in the matrix to match the sg0 sg2 sg4 sg1 sg3 sg5 ordering in this response b0010 Read 1 byte indicating axis row to read Three response packets 8 bytes or Matrix O Fx 1 Fy 2 Fz 3 Tx 4 Ty 5 Tz each are sent All matrix 0x2 coefficients are in 4 byte floating point format Opcode b0010 containing the SGO and SG1 coefficients for the requested axis Opcode b0011 containing the SG2 and SG3 coefficients Opcode b0100 containing the SG4 and SG5 coefficients b0101 Read F T None One response packet with the or Serial opcode b0101 with 8 data bytes 0x5 Number which contain an ASCII string representing the F T serial number b0110 Set Active 1 byte indicating index of calibration to One response packet with opcode or Calibration use b0110 with one data byte echoing 0x6 Possible index values are 0 to 15 the selected calibration index b0111 Read None One response packet with opcode or Counts b0111 with 8 bytes of data The 0x7 Per Unit first 4 bytes are the counts per force followed by the 4 byte counts per torque Both count values are integers b1000 Read Unit None On
22. d some Omega transducers This will cause irreparable damage to the transducer and void the warranty Leave all fasteners in place and do not disassemble the transducer CAUTION Do not probe any openings in the transducer This will damage the instrumentation CAUTION Do not exert excessive force on the transducer The transducer is a sensitive instrument and can be damaged by applying force exceeding the single axis overload values of the transducer and cause irreparable damage Small Nano and Mini transducers can easily be overloaded during installation Refer to the F T Transducer manual 9620 05 Transducer Section for specific transducer overload values Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ali ia com e Email info ati ia com 6 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 2 Overview The F T CAN and Serial Bus Interface Sensor System consists of an ATI transducer and a F T to CAN interface board NETCANOEM The transducer selected will include a Molex SL connector MSL In order to allow easy routing of the transducer cables through tight spaces the transducer is shipped without a connector housing Connector contacts are crimped to the eight wires of the transducer cable After the cable routing is completed the contacts can be inserted in a connector housing which can then be plugged into t
23. e response packet with the or Codes opcode b1000 with two bytes of 0x8 data The first byte is the force unit code Force unit Force Unit Code Ibf N KIbf kN kgf gf OU 0N NHG The second byte is the torque unit code This function is only available with firmware revision 3 7 or higher Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ali ia com e Email info ati ia com 14 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 Table 5 1 CAN Interface Opcodes Torque Unit Torque Code Ibf ini Ibf ft2 N m3 N mm4 kgf cm5 kN m6 Bb1001 Read One byte containing the index of the One response packet with opcode or OxC Or Diagnostic diagnostic value to read b1001 and two bytes of data which 0x9 ADC 1 contain the requested diagnostic Index Diagnostic 3 Voltages 0 MID VSG ADC reading 1 Unused 2 Thermistor 3 Power 4 DAC Ground b1100 Reset None None b1101 Set base or identifier OxD first 7 bits 1 byte indicating the first 7 bits to use The 7 bits are right justified in the data byte One response packet with opcode b1101 with no data The command will take effect at the next powerup b1110 Set baud or rate OxE 1 byte indicating the divisor code used to set the baud rate A base rate of
24. e result of the matrix calculation one can also divide the matrix values by the CpF and CpT values This may save computing time since it would only have to be done once at the beginning of the measurement and not with every sample during the measurement phase Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ali ia com e Email info ati ia com 18 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 Figure 7 1 Generic F T Matrix Calculation Procedure F T Matrix Calculations bias0 Determine Offset Correction biasl optional bias2 Am Transducer s Calibration File bias3 bias4 bias5 NETCANOEM CAN bus firmware 3 7 or higher Or biasO 16 bit signed strain gage data biasl bias2 3 bias3 CpF Counts per Force biasd CpT Counts per Torque bias5 FxG2 FxG3 FxG4 FxG5 GCF2 GCF3 GCF4 GCF5 PA ODE Fy CpF x Fz CpF Tx CpT Divide by CpF and Re Cpr tivel TzG2 TzG3 TvG4 TzG5 Ty CpT psTespecuiey GCF2 GCF3 GCF4 GCFS Tz CpT Runtime Matrix lt Multiply Matrix in this direction Fx CpF Fy CpF Fz CpF Tx CpT Ty CpT Tz CpT NETCANOEM CAN Bus Fx Fy Fz Tx Ty Tz Force and 4 byte floating point FxGO FxGl FxG2 FxG3 FxG4 FxG5 i l Torque Data calibration matrix FyGO FyGl FyG2 FyG3 FyG4 FyG5 FzG0 FzGl FzG2 FzG3
25. ership of such information including without limitation any computer software provided to Purchaser by ATI shall remain in ATI and such information is licensed to Purchaser only for Purchaser s use in operating the products supplied by ATI hereunder in Purchaser s internal business operations Without ATI s prior written permission Purchaser will not use such information for any other purpose of provide or otherwise make such information available to any third party Purchaser agrees to take all reasonable precautions to prevent any unauthorized use or disclosure of such information Purchaser will not be liable hereunder with respect to disclosure or use of information which a is in the public domain when received from ATI b is thereafter published or otherwise enters the public domain through no fault of Purchaser c is in Purchaser s possession prior to receipt from ATI d is lawfully obtained by Purchaser from a third party entitled to disclose it or f is required to be disclosed by judicial order or other governmental authority provided that with respect to such to maintain the confidentiality of such information Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ali ia com e Email info ati ia com 29
26. et Digital Interface Optional Instead of using a NetBox one can also directly connect to the RS485 interface with a high speed xxx interface See details in the NET Digital user manual Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 eFax 1 919 772 8259 ewww ali ia com e Email info ati ia com 17 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 8 STG Data Acquisition and Matrix Calculation 8 1 Preparations After a reset or power cycle the following steps have to be performed before a data acquisition can begin 1 Select the correct calibration With the Set Active Calibration command a calibration slot number between 0 and 15 is sent to the NETCANOEM If the transducer has several calibrations up to 16 are possible then the calibration slot will be set to the new number If there is no valid calibration in the selected slot then bit 6 Bad active calibration in the status register will be on 2 Verify that the correct calibration is selected The Set Active Calibration command echoes the selected calibration slot Verify that it matches the desired calibration slot number 3 Read the active calibration matrix with the Read Active Calibration command Read the Counts per Force and Counts per Torque values this is only available since firmware versions 3 7 and later with older firmware use 1000000 for both values
27. he NETCANOEM interface board An adapter cable can also be purchased to allow a NETCANOEM interface with the 12 Pin Amphenol connector standard on ATI Nano and Mini Transducers Refer to Section 9 6 Available tools Adapters and Spare Parts for a list of optional part numbers The transducer can also be ordered with the MSL connector already attached this is the ZC option The interface board is designed to be mounted within a customer s enclosure and gets supplied by customer provided 24VDC power supply It connects to the control electronics via CAN bus or RS485 interface Power and bus signals are connected to the board via screw terminals Figure 2 1 shows sample application using the NETCANOEM mounted in a segment of a light weight arm and a Mini45 transducer mounted on the arm Figure 2 1 Sample Application r MINI45 transducer OYTILLLIM REESE 10047P7000 ct n isi T oa m Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ali ia com e Email info ati ia com 7 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 3 Compatible Transducer Transducers with part numbers ending in MSL are custom designed for use with NETCANOEM It differs from a standard Nano or Mini transducers in the following features MOLEX SL connector contacts crimped to the eight wires of the transducer cable Shi
28. ibility of the receiving application to handle critical errors appropriately Table 5 2 NETCANOEM Status Register Bit Name Type Remark Recommended error handling 0 Watchdog Reset Can occur after firmware upgrade replace NETCANOEM if this happens during normal operation 1 DAC ADC check result too high Critical Analog Acquisition system gets checked once after reset Stop operation replace NETCANOEM 2 DAC ADC check result too low Critical Analog Acquisition system gets checked once after reset Stop operation replace NETCANOEM 3 Artificial analog ground out of Critical Stop operation replace NETCANOEM range 4 Power supply too high Critical Stop operation check power supply to NETCANOEM 5 Power supply too low Critical Stop operation check power supply to NETCANOEM 6 Bad active calibration Critical Select a valid calibration slot Checksum of the selected calibration is wrong T EEPROM failure Critical Stop operation No or invalid EEPROM response Checksum error in EEPROM memory replace NETCANOEM if this happens during normal operation 8 Configuration Invalid Checksum error in stored configuration data NETCANOEM will use default settings 9 Reserved 10 Reserved 11 Sensor temperature too high Critical Stop operation Make sure that ambient temperature of the NETCANOEM stays within the specified range see Table 10 1 for detail
29. in pin Pera nn ccEn 9 E CONO O ise te FU PXckU IUD Kisium EN n erE d etEM EE IuI Hen NoD NUN M DM dNV NH CI IUE 11 4 1 1 P1 Connector for NetBox HIBITROB crie ser bore Wes Ses iura i aod ee el 11 41 2 P2 Connector for Transducer Strain Gages iissa 11 ATA 41560 Dennifidlxicnsbreictst el edat e reper Eo ebH EUR RePA eR EF PT SER EET D ED PE QUE RE Pee nuQ EF o EE EP ET ERE PEE QUERN 11 405 Je Screw TEAMING scene PH YO ERE QR PPEPOR UE EE I REED FEE PRU eam meen DL PEE QUE 12 COCHE ST E NT EET DESSEN ERR 12 CE TAMEO EL LEE IU cement iat 12 ODR OW cc c ot ah spleens Pee css ts bn eto eon camming mses nen da nade 12 4o El WL eee mE 12 5 CARN Bus Wa 13 Bll B esetbelaulb Sot gei decocto RE arce a RUE Tu ER ACE GR P HIER M Ma PLI MEE 13 no CAN Inerace DBCOU8S i i i eer diete bovidr tesa dt hee U pre Past tabo I SEP P ED ERE OD NEU EEd P eto IRE R 14 59 INE OAD soa BUG E E UE ELE 16 E dij 17 RU ea tr e 17 Do DODU as eueesbins itn Giiiten s eq Hes EM M MM MM 17 7 Net Digital Interface Optlonal inna tme patina rea eo tm pan apan nora aaa 17 8 STG Data Acquisition and Matrix Calculation ccccccccsseeeeseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseneeee 18 M PIDA O PE EE E E E SD ST 18 por Reguestokain Gage DT uscaesenio tsa bois oon aso Pedes rebat bnc
30. in the arrow direction before using this Tool Insert the Tool into the slot above the locking tang of the terminal Push the um tool down until the locking tang is even with the rest of the terminal This will free the terminal from the housing Holding the wire and the tool together pull the wire back through the connector slot in the arrow direction HOUSING as shown in Figure 2 Qu b Figure 2 HOUSING Molex does not offer repair parts for this Tools due to the PULL OUT inexpensive nature of the tool TERMINAL AND WIRE Americas Headquarters Far East North Headquarters Far East South Headquarters European Headquarters Corporate Headquarters Lisle Illinois 60532 U S A Yamato Kanagawa Japan Jurong Singapore Munich Germany 2222 Wellington Ct 1 800 78MOLEX 81 462 65 2324 65 6 268 6868 49 89 413092 0 Lisle IL 60532 U S A amerinfo molex com feninfo molex com fesinfo molex com eurinfo molex com 630 969 4550 Fax 630 969 1352 Visit our Web site at http www molex com Doc No ATS 011020022 Release Date 07 25 02 UNCONTROLLED COPY Page 2 of 2 Revision K Revision Date 05 26 09 Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ali ia com e Email info ati ia com 28 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 13 Terms and Conditions of Sale The following Terms and Conditions are a sup
31. ing with the NETCANOEM board reset the board to the default settings 1 Remove power from NETCANOEM board Remove cover to access NETCANOEM board Set DIP switch SW2 position 1 to the ON position Refer to Figure 5 1 Replace cover and apply power to the NETCANOEM board Test communication with board If no communication with the NETCANOEM board is possible using default settings contact ATI Industrial Automation Customer Service Figure 5 1 NETCANOEM SW2 DIP Switch n m n WA psu 1 DIP Switch to turn default settings on off 2 DIP switch to turn CANbus termination on off DIP Switches are shown in the OFF position QA des ac dps Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ati ia com e Email info ati ia com 13 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 5 2 CAN Interface Opcodes The Opcode is transmitted as the last 4 bits of the message identifier The first 7 bits of the CAN identifier are the software configurable Base Identifier All data are in big endian format network order Table 5 1 CAN Interface Opcodes Code Function Data Response b0000 Read SG None Two response packets are or Data sent One with the opcode set to 0x0 b0000 which contains the two byte status code followed by the two byte values for sgO sg2 and sg4 total of eight bytes and
32. l color LED signals the status of the NETCANOEM in the following way LED State Description Off No power Green Correct CAN operation Flashing Green Default settings Red CAN bus error bit 14 in the status register is set Flashing Red bit 15 in the status register is set Amber reserved Flashing Amber reserved See Section 5 3 for details Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ali ia com e Email info ati ia com 12 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 5 CAN Bus Interface The CAN bus interface allows a user to Determine which calibration is active Select a calibration to be active A Read the active calibration matrix Select the CAN baud rate up to 2Mbps Select the base identifier upper 7 bit of the 11bit identifier Reset the NETCANOEM Read the firmware revision of the NETCANOEM Read FT calibration serial number Request strain gage data and status information An on board 120 Ohm termination resistor can be turned on off via DIP switch SW2 position 2 Default settings Setting DIP switch SW2 position 1 into the on position will set the CAN bus interface to its default settings which will become active after a reset command or power cycle Baud rate 250kbps Base identifier 20 HEX 5 1 Reset Default Settings If experiencing issues communicat
33. nufacturer and or the manufacturers of other components used in the installation DANGER Notification of information or instructions that if not followed will result in death or serious injury The notification provides information about the nature of the hazardous situation the consequences of not avoiding the hazard and the method for avoiding the situation WARNING Notification of information or instructions that if not followed could result in death or serious injury The notification provides information about the nature of the hazardous situation the consequences of not avoiding the hazard and the method for avoiding the situation CAUTION Notification of information or instructions that if not followed could result in moderate injury or will cause damage to equipment The notification provides information about the nature of the hazardous situation the consequences of not avoiding the hazard and the method for avoiding the situation ATTENTION NOTE or NOTICE Notification of specific information or instructions about maintaining operating installation or setup of the product that if not followed could result in damage to equipment The notification can emphasize but is not limited to specific setting values good operating practices or maintenance tips 1 3 Safety Precautions CAUTION Do not remove any fasteners or disassemble transducers without a removable mounting adapter plate These include Nano Mini IP rated an
34. plement to and include a portion of ATI s Standard Terms and Conditions which are on file at ATI and available upon request ATI warrants to Purchaser that force torque sensor products purchased hereunder will be free from defects in material and workmanship under normal use for a period of one year from the date of shipment This warranty does not cover components subject to wear and tear under normal usage or those requiring periodic replacement ATI will have no liability under this warranty unless a ATI is given written notice of the claimed defect and a description thereof with thirty 30 days after Purchaser discovers the defect and in any event not later than the last day of the warranty period and b the defective item is received by ATI not later than 10 days after the last day of the warranty period ATT s entire liability and Purchaser s sole remedy under this warranty is limited to repair or replacement at ATI s election of the defective part or item or at ATI s election refund of the price paid for the item The foregoing warranty does not apply to any defect or failure resulting from improper installation operation maintenance or repair by anyone other than ATI ATI will in no event be liable for incidental consequential or special damages of any kind even if TI has been advised of the possibility of such damages ATT s aggregate liability will in no event exceed the amount paid by the purchaser for the item which is the
35. pped with connector housing as a separate item to allow for cable routing through the center of the robotic arm Available with E and AE exit transducers strain relieved Figure 3 1 Transducer with Stain Relieved Cable Figure 3 2 MSL Transducer Cable A transducer is available with the ZC8 option designating an MSL connector installed at the factory Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 eFax 1 919 772 8259 ewww ati ia com e Email info ati ia com 8 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 4 NETCANOEM F T Interface Board The NETCANOEM provides a CAN bus interface for ATI s TW transducers Equipped with an 8 pin MOLEX SL connector like the 9105 TW MINI45TH12 AE 0 40 MSL they can be plugged directly into the NETCANOEM PCB Figure 4 1 NETCANOEM System NETCANOEM PCB RS485 and Rower SUPY NR Optional connection Fa to a NetBox TW Transducer with 8 Pin Molex SL Connector CAN bus and CAN bus and Power Supply Power Supply The 9105 NETCANOEM interfaces with the transducer s strain gages via connector P2 The strain gage signals get digitized with a 16bit A D converter and are then transmitted over a CAN bus interface Up to 16 transducer calibrations can be stored in the on board EEPROM If the NETCANOEM is connected to a NetBox via P1 the digitized data are also sent
36. s 12 Sensor temperature too low Critical Stop operation Make sure that ambient temperature of the NETCANOEM stays within the specified range see Table 10 1 for details 13 Reserved 14 CAN bus error CAN bus error detected turns status LED to red 15 Any error causes this bit to turn on Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ali ia com e Email info ati ia com 16 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 6 NetBox Interface The NETCANOEM can alternatively be connected to a NetBox 9105 NETB via connector P1 It will then behave like a Net Analog Board Please refer to the Net F T manual for a description of the available functions http www ati ia com app content documents 9610 05 1022 pdf Note It is not recommended to operate the NETCANOEM with CAN bus and NetBox interface at the same time In this case the response time of the CAN interface can become unpredictable Also settings performed by one interface can be overwritten by the other interface without warning 6 1 Firmware Upgrade The firmware of the NETCANOEM can be upgraded by using the firmware upgrade utility for Net F T systems Please contact ATI if this becomes necessary 6 2 Debug If communication over CAN bus is not possible the NetBox interface can be used to read the NETCANOEM status register 7 N
37. subject of claim or dispute ATI will have no liability of any kind for failure of any equipment or other items not supplied by ATI No action against ATI regardless of form arising out of or in any way connected with products or services supplied hereunder may be brought more than one year after the cause of action accrued No representation or agreement varying or extending the warranty and limitation of remedy provisions contained herein is authorized by ATI and may not be relied upon as having been authorized by ATI unless in writing and signed by an executive officer of ATI Unless otherwise agreed in writing by ATI all designs drawings data inventions software and other technology made or developed by ATI in the course of providing products and services hereunder and all rights therein under any patent copyright or other law protecting intellectual property shall be and remain ATI s property The sale of products or services hereunder does not convey any expressed or implied license under any patent copyright or other intellectual property right owned or controlled by ATI whether relating to the products sold or any other matter except for the license expressly granted below In the course of supplying products and services hereunder ATI may provide or disclose to Purchaser confidential and proprietary information of ATI relating to the design operation or other aspects of ATI s products As between ATI and Purchaser own
38. tact insertion tool to help with the correct transducer connector assembly ATI part no 3805 05 1115 Molex SL crimp hand tool ATI part no 3805 05 1114 Molex SL crimp contact for AWG 32 36 ATI part no 1705 0610206 02 Molex SL 8 pin contact housing ATI part no 1540 2112001 08 NetBox interface adapter cable ATI part no 9700 0500004 03 Amphenol connector to Molex SL adapter cable ATI Part no 9105 C A MSL 0 15 Figure 8 4 Tools and Adapters Molex SL Contact Insertion Tool NetBox Interface Adapter Cable ATI part no 3805 05 1114 ATI part no 9700 0500004 03 Eag Molex SL Contact Housings ATI part no 1540 2112001 08 Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ali ia com e Email info ati ia com 22 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 10 Troubleshooting 10 1 Introduction This section includes answers to some issues that might arise when setting up and using the NETCANOEM system The question or problem is listed followed by its probable answer or solution They are categorized for easy reference The information in this section should answer many questions that might arise in the field Customer service is available to users who have problems or questions addressed in the manuals ATI Industrial Automation Attn F T Customer Service Pinnacle Park 1081 Goodworth
39. tch C Chassis Connection Mun epson TER Figure 4 4 NETCANOEM Bottom View Pinnacle Park e 1031 Goodworth Drive e Apex NC 27539 USA e Tel 1 919 772 0115 e Fax 1 919 772 8259 ewww ali ia com e Email info ati ia com 10 F T CAN Bus and Serial Bus Network Interface for OEM Installation and Operation Manual Document 9610 05 1030 02 4 4 Connectors The following connectors are available on the Analog to CAN PCB Assembly 4 1 1 P1 Connector for NetBox Interface Mating connector housing Molex 51021 0800 Mating connector contact Molex 50058 8000 Signal Name SL GND Description Power Supply Ground RS485 Serial Interface to NetBox DRAIN Serial Interface Shield RS485 Serial Interface to NetBox SL_VP Power Supply Positive RESET Programmer Reset BKGD Programmer Background Debug CO N OD Or BR OG PO HS DGND Programmer Digital Ground P2 Connector for Transducer Strain Gages Mating connector housing Molex 50 57 9408 Mating connector contact Molex 16 02 0101 Signal Name VSG Description Positive strain gage bridge supply voltage VSG Negative strain gage bridge supply voltage GO Strain gage 0 voltage G1 Strain gage 1 voltage G2 Strain gage 2 voltage G3 Strain gage 3 voltage G4 Strain gage 4 voltage co j oj oOc1 0 Po G5 Strain gage 5 voltage
Download Pdf Manuals
Related Search