commissioning instructions ftd
TRANSCRIPT
Translation of original commissioning instructions
Commissioning instructionsFTDForce-torque sensor system
Imprint
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ImprintCopyright:This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rightsreserved.
Technical changes:We reserve the right to make alterations for the purpose of technical improvement.
Document number: 389627
Version: 02.00 | 29/07/2021 | en
Dear Customer,thank you for trusting our products and our family-owned company, the leadingtechnology supplier of robots and production machines.Our team is always available to answer any questions on this product and other solutions.Ask us questions and challenge us. We will find a solution!Best regards,Your SCHUNK team
Customer ManagementTel. +49-7133-103-2503Fax [email protected]
Please read the operating manual in full and keep it close to the product.
Table of Contents
Table of Contents1 General.................................................................................................................... 5
1.1 About this manual ................................................................................................ 51.1.1 Presentation of Warning Labels ............................................................... 51.1.2 Applicable documents .............................................................................. 61.1.3 Variants..................................................................................................... 6
1.2 Warranty .............................................................................................................. 61.3 Scope of delivery .................................................................................................. 6
2 Basic safety notes ................................................................................................... 72.1 Intended use......................................................................................................... 72.2 Inappropriate use ................................................................................................. 72.3 Constructional changes ........................................................................................ 72.4 Spare parts ........................................................................................................... 72.5 Personnel qualification......................................................................................... 72.6 Disposal ................................................................................................................ 82.7 Notes on particular risks....................................................................................... 8
3 Technical data.......................................................................................................... 93.1 Ambient conditions and operating conditions ..................................................... 93.2 Force-torque sensor ............................................................................................. 93.3 Calculating the forces and moments.................................................................. 10
4 Design and description............................................................................................ 124.1 Design ................................................................................................................. 124.2 Description ......................................................................................................... 17
5 Assembly and installation ....................................................................................... 185.1 Installing and connecting.................................................................................... 185.2 Electrical connection .......................................................................................... 19
5.2.1 Force-torque sensor ............................................................................... 265.2.2 PS / IFPS box ........................................................................................... 285.2.3 IFPSMC box............................................................................................. 34
5.3 Installing the software........................................................................................ 39
6 Operation ............................................................................................................... 416.1 Available software interfaces and demo programs............................................ 416.2 Manual calculations............................................................................................ 426.3 Creating your own application ........................................................................... 42
7 Troubleshooting ..................................................................................................... 437.1 Saturation ........................................................................................................... 437.2 Signal noise......................................................................................................... 437.3 Measurement data deviation / drift................................................................... 437.4 Hysteresis ........................................................................................................... 43
8 Maintenance .......................................................................................................... 44
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Table of Contents
9 EU Declaration of Conformity ................................................................................. 45
10 Appendix to the declaration of conformity ............................................................. 46
11 Appendix ................................................................................................................ 50
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General
1 General
1.1 About this manualThis manual contains important information for a safe andappropriate use of the product.This manual is an integral part of the product and must be keptaccessible for the personnel at all times.Before starting work, the personnel must have read andunderstood this operating manual. Prerequisite for safe working isthe observance of all safety instructions in this manual.Illustrations in this manual are provided for basic understandingand may differ from the actual product design.In addition to these instructions, the documents listed underApplicable documents [} 6] are applicable.
1.1.1 Presentation of Warning LabelsTo make risks clear, the following signal words and symbols areused for safety notes.
DANGERDanger for persons!Non-observance will inevitably cause irreversible injury or death.
WARNINGDangers for persons!Non-observance can lead to irreversible injury and even death.
CAUTIONDangers for persons!Non-observance can cause minor injuries.
CAUTIONMaterial damage!Information about avoiding material damage.
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General
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1.1.2 Applicable documents• General terms of business *• Catalog data sheet of the purchased product *• Assembly and operating manual of the sensor *• Help files for FTD DAQ software (ATI DAQ F/T software) **The documents marked with an asterisk (*) can be downloaded onour homepage schunk.comThe documents labeled with an asterisk (**) can be downloadedfrom schunk.com/ft-downloads.
1.1.3 VariantsThis operating manual applies to the following variations:• Force-torque sensor system FTD with USB data acquisition
(DAQ) card for one force/torque sensor• Force-torque sensor system FTD with USB data acquisition card
for up to six force/torque sensors• Force-torque sensor system FTD with PCI data acquisition card
for one force/torque sensor• Force-torque sensor system FTD with PCI data acquisition card
for up to six force/torque sensors• Force-torque sensor system FTD with terminal block with BNC
inputs for one force/torque sensor
1.2 WarrantyIf the product is used as intended, the warranty is valid for 12months from the ex-works delivery date under the followingconditions:• Observe the ambient conditions and operating conditionsParts touching the workpiece and wear parts are not included inthe warranty.
1.3 Scope of deliveryThe scope of delivery includes• Force-torque sensor system FTD in the ordered model• Force-torque sensor FT with sensor cable• DAQ cable• PS box, IFPS box or IFPSMC box• Commissioning instructions• Assembly and operating manual force-torque sensor FT• Commissioning CD with calibration certificates• Accessory pack
Basic safety notes
2 Basic safety notes
2.1 Intended useThe product is used to record, convert and evaluate analog outputsignals into electrical signals using a data acquisition card.• Appropriate use of the product includes compliance with all
instructions in this manual.
2.2 Inappropriate useThe product is not a safety component in accordance with the ECMachine Directive 2006/42/EC and must not be used in safety-relevant parts of machine control units.
2.3 Constructional changesImplementation of structural changesBy conversions, changes, and reworking, e.g. additional threads,holes, or safety devices can impair the functioning or safety of theproduct or damage it.• Structural changes should only be made with the written
approval of SCHUNK.
2.4 Spare partsUse of unauthorized spare partsUsing unauthorized spare parts can endanger personnel anddamage the product or cause it to malfunction.• Use only original spare parts or spares authorized by SCHUNK.
2.5 Personnel qualificationInadequate qualifications of the personnelIf the personnel working with the product is not sufficientlyqualified, the result may be serious injuries and significantproperty damage.• All work may only be performed by qualified personnel.• Before working with the product, the personnel must have read
and understood the complete assembly and operating manual.• Observe the national safety regulations and rules and general
safety instructions.
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Basic safety notes
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2.6 DisposalHandling of disposalThe incorrect handling of disposal may impair the product's safetyand cause serious injuries as well as considerable material andenvironmental harm.• Follow local regulations on dispatching product components for
recycling or proper disposal.
2.7 Notes on particular risks
DANGERDanger from electric voltage!Touching live parts may result in death.• Switch off the power supply before any assembly, adjustment
or maintenance work and secure against being switched onagain.
• Only qualified electricians may perform electrical installations.• Check if de-energized, ground it and hot-wire.• Cover live parts.
Technical data
3 Technical data
3.1 Ambient conditions and operating conditionsAmbient conditions and operating conditions for PS box and IFPS box
Designation PS box / IFPS boxAmbient temperature [°C]during storagemin.max.during operationmin.max.
-3075
060
3.2 Force-torque sensor
NOTEAll forces and torques acting on the sensor must be within thespecified range of measurement. Exceeding the range ofmeasurement will reduce the maximum number of load cyclesand may lead to damage of the sensor.Information on the range of measurement of each individualforce-torque sensor is provided in the catalog data sheet. Thelatest version is always applicable.
Dimensions and max. loads on the force-torque sensor
Detailed information on the mounting, installation andmaintenance of the sensor is provided in the Assembly andOperating Manual for the sensor, Applicable documents [} 6].
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Technical data
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3.3 Calculating the forces and moments
Force-torquesensor
Amplifier
DAQ dataacquisition card
Signals ofthe straingauges
Opencalibration file
FTxxx.cal
Forces andmoments
Offset correction *
6 analogoutputsignals
Calibration matrix
Copy UserAxis calibration matrixfrom FTxxx.cal and copy it to the
runtime matrix
Open FTxxx.cal and copy theworking matrix into the areahighlighted in blue.Temperature compensation isnormally not required.
Runtime matrix
is executed foreachmeasurement
is only executedat the beginningof ameasurement
(if available)
As a
n al
tern
ativ
e to
the
spec
ified
pro
cedu
re, t
he fi
le
"DAQ
F/T
Man
ual C
alcu
latio
ns.x
ml"
can
also
be
used
toge
nera
te th
e cu
rrent
mat
rix.
Calculating the forces and moments
Technical data
Signalsof thestraingauges
Forces andmoments
Offset correction *
Calibration matrixRuntime matrix
is performedfor eachmeasurement
is onlyperformed at thebeginning of ameasurement
Divide each matrixelement by thecorrection value of theamplifier
Customer-providedamplifier
Determine thecorrection value ofthe amplifier ***
*** Example 1: customer-provided hardware amplifiedby 2 > 1 V becomes 2 V >correction value of theamplifier is 2 ** Example 2:customer-provided hardwareamplified by 0.5 (or weakenedby 2) > 1 V becomes 0.5 V >correction value of theamplifier is 0.5 **
DAQ dataacquisition card
(if available)
Amplifier
Force-torquesensor
6 analogoutputsignals
Open calibration file
FTxxx.cal
Copy UserAxis calibration matrix from FTxxx.cal and copy it to the
runtime matrix
As an alternative to thespecified procedure, the file"DAQ F/T ManualCalculations.xml" can alsobe used to generate thecurrent matrix.
Open FTxxx.cal and copy the working matrix into the areahighlighted in blue. Temperature compensation is normally notrequired.
Calculating the forces and moments when using an amplifier provided by the customer
* Offset correction The offset correction sets the force and moment data to zero inorder to avoid falsifications due to external influences. Withoutoffset correction, for example, the weight of the tool would bemeasured as a force on the sensor. The offset correction setsthis measured weight to zero.
** Correction value ofthe customer-provided amplifier
The correction value of the customer-provided amplifier is onlyrequired if an additional amplifier is used. The factorcompensates for the entire calculation.
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Design and description
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4 Design and description
4.1 Design
NOTEFor the sake of clarity, the sizes of the force-torque sensors havebeen combined into two size groups in some places in thismanual:• FT Nano and FT Mini• FT Gamma, FT Delta, FT Theta and FT Omega
Force-torque sensor
Top: Force-torque sensor with interface electronics (from gamma and larger) / Bottom: Force-torque sensor with sensor cable (Nano and Mini)
1 Sensor cable connection2 Integrated sensor cable3 Tool side adapter plate4 Robot side adapter plate
Design and description
Sensor cables
Sensor cables
1 Force-torque sensor connection2 PS box / IFPS box / IFPSMC box connection
IFPS box NOTEThe power supply for the box is either supplied via the 12 V powersupply unit provided or via a 5 V power supply through theconnected DAQ cable of the customer-provided data acquisitioncard. Only one power supply is required; if both are connected,the power supply via the 12 V power supply unit is automaticallyselected.
Power supply box for nano / mini force-torque sensors with integrated sensorelectronics
1 12-pin socket, sensor cable connection2 26-pin connector, DAQ cable connection3 Power supply unit 12 V
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Design and description
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PS box NOTEThe power supply for the box is either supplied via the 12 V powersupply unit provided or via a 5 V power supply through theconnected DAQ cable of the customer-provided data acquisitioncard. Only one power supply is required; if both are connected,the power supply via the 12 V power supply unit is automaticallyselected.
Power supply box for force-torque sensors starting from gamma and larger
1 20-pin socket, sensor cable connection2 26-pin connector, DAQ cable connection3 Power supply unit 12 V
DAQ cable
DAQ cable from PS box / IFPS box to customer-provided data acquisition card
1 Unterminated cable ends2 68-pin connector (type D) for customer-provided data
acquisition card3 26-pin connector, PS box / IFPS box connection
Design and description
IFPSMC box
A = front view / B = rear view
1 68-pin socket, customer-provided connection 12 68-pin socket, connection 1 to data acquisition card3 68-pin socket, connection 0 to data acquisition card4 68-pin socket, customer-provided connection 05 Power supply connection6 20-pin socket, sensor cable connection7 Power supply unit
DAQ cable for IFPSMCbox
DAQ cable from IFPSMC box to customer-provided data acquisition card
1 68-pin connector (VHDCI), customer-provided dataacquisition card connection
2 68-pin connector (type D), customer-provided dataacquisition card connection
3 68-pin connector (type D), IFPSMC box connection
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Design and description
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BNC interface box
1 BNC output connection2 Connection for sensor signal input3 Earth4 Power supply
Data collection
1 USB data acquisition (DAQ) device with screw terminalconnections
2 USB data acquisition (DAQ) device3 PCI DAQ card4 PCI DAQ card5 Terminal block with BNC inputs
Design and description
4.2 DescriptionThe force-torque sensor is connected to the PC by means of acustomer-provided data acquisition card. The six analog outputsignals from the force-torque sensor are converted to digitalsignals by means of the electronics in the data acquisition card.Afterwards, the software (provided by the customer) uses thecalibration matrix to graphically display the occurring forces andtorques on the PC if required.
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Assembly and installation
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5 Assembly and installation
5.1 Installing and connecting
DANGERDanger from electric voltage!Touching live parts may result in death.• Switch off the power supply before any assembly, adjustment
or maintenance work and secure against being switched onagain.
• Only qualified electricians may perform electrical installations.• Check if de-energized, ground it and hot-wire.• Cover live parts.
CAUTIONRisk of damage to the electronics!A faulty connection can cause damage to the internal electronics.• The supply network must be a network of type "PELV" for
power and logic.• Observe the PIN assignment of the connecting terminals.• Make sure that all components are grounded correctly.
1. Connect components of the force-torque sensor system witheach other, Electrical connection [} 19].
2. Optional: Install the software, Installing the software [} 39].3. Check for functionality.4. Mount the force-torque sensor on the robot, see the
installation and operating instructions for the sensor.
Assembly and installation
5.2 Electrical connection"PCI DAQ card with one force-torque sensor" variant
Connection shown as an example with theta force-torque sensor
1. Connect data acquisition card (1) to PC.2. Connect DAQ cable (2) to data acquisition card (1).3. Connect the DAQ cable (2) to the power supply box (4) and
tighten the clamping screws on the connector.4. Connect power supply unit 12 V (3) to power supply box (4).5. For FT sensors starting from gamma and larger: Connect
sensor cable (5) to force-torque sensor (6).6. Connect sensor cable (5) to power supply box (4).7. Check for functionality.
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Assembly and installation
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"PCI DAQ card for up to six force-torque sensors" variant
Connection shown as an example with Mini58 force-torque sensor
1. Connect data acquisition card (1) to PC.2. Connect DAQ cable (2) to data acquisition card (1).3. Connect DAQ cable (2) to IFPSMC box (4) and tighten screw
terminals on the connectors.4. Connect power supply unit 12 V (3) to IFPSMC box (4).5. For FT sensors starting from gamma and larger: Connect
sensor cable (5) to force-torque sensors (6).6. Connect sensor cable (5) to IFPSMC box (4). The serial number
of the sensor must match the serial number on the connectoron the IFPSMC box.
7. Check for functionality.
Assembly and installation
"USB data acquisition (DAQ) device with one force-torquesensor" variant
Connection shown as an example with Mini58 force-torque sensor
1. Connect USB data acquisition (DAQ) device (2) to PC with theUSB cable (1).
2. Connect DAQ cable (3) to USB data acquisition (DAQ)device (2).
3. Connect DAQ cable (3) to the power supply box (5) and tightenthe clamping screws on the connector.
4. Connect power supply unit 12 V (4) to power supply box (5).5. For FT sensors starting from gamma and larger: Connect
sensor cable (5) to force-torque sensor (6).6. Connect sensor cable (6) to power supply box (5).7. Check for functionality.
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Assembly and installation
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"USB data acquisition (DAQ) device for up to six force-torquesensors" variant
Connection shown as an example with Mini58 force-torque sensor
1. Connect USB data acquisition (DAQ) device (3) to PC with theUSB cable (1).
2. Connect power supply unit (2) to USB data acquisition (DAQ)device.
3. Connect DAQ cable (4) to USB data acquisition (DAQ)device (3).
4. Connect DAQ cable (4) to IFPSMC box (5) and tighten screwterminals on the connector.
5. Connect power supply unit 12 V (6) to IFPSMC box (5).6. For FT sensors starting from gamma and larger: Connect
sensor cable (5) to force-torque sensors (6).7. Connect sensor cable (7) to IFPS box (5). The serial number of
the sensor must match the serial number on the socket on theIFPSMC box.
8. Check for functionality.
Assembly and installation
"Terminal block with BNC inputs with one force-torque sensor"variant
Connection shown as an example with gamma force-torque sensor
1. Connect the terminal block with BNC inputs (1) to the PC.2. Connect the terminal block with BNC inputs (1) to the BNC
interface box (3) with the BNC cable (2).3. Connect the terminal block with BNC inputs (1) to the BNC
interface box (3) with the grounding cable (8).4. Connect the BNC interface box (3) to the power supply box
with the BNC interface box cable (7).5. Connect power supply unit 12 V (4) to power supply box (5).6. For FT sensors starting from gamma and larger: Connect
sensor cable (5) to force-torque sensor (6).7. Connect sensor cable (6) to power supply box (5).8. Check for functionality.
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Assembly and installation
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Connection overviewPin ATI signal Wire strand
Cable betweenPS / IFPS box
and dataacquisition
Designation NISensor connection(gamma & larger)
DAQ cableto PS /
IFPS boxconnector
68-pinconnector
(NI)
32 and64 pins
64 pins
without IP with IP
2 8 +5 Vpower
Red (+5 V) (+5 V)
11 13 0 Vpower
Red / White (DGnd)
(DGnd)
6 1 21 +VANApower
10 4 22 56 AGnd/AIGnd
Black (AIGnd)
(AIGnd)
11 2 23 -VANApower
1 7 9 68 SG0output
Brown (AI 0) (AI 16)
3 8 18 34 SG0reference
Brown / White (AI 8) (AI 24)
7 9 8 33 SG1output
Yellow (AI 1) (AI 17)
12 10 17 66 SG1reference
Yellow / White (AI 9) (AI 25)
17 11 7 65 SG2output
Green (AI 2) (AI 18)
20 12 16 31 SG2reference
Green / White (AI 10) (AI 26)
8 13 6 30 SG3output
Blue (AI 3) (AI 19)
4 14 15 63 SG3reference
Blue / White (AI 11) (AI 27)
13 15 5 26 SG4output
Violet (AI 4) (AI 20)
18 16 14 61 SG4reference
Violet / White (AI 12) (AI 28)
9 17 4 60 SG5output
Grey (AI 5) (AI 21)
5 8 13 26 SG5reference
Grey / White (AI 13) (AI 29)
14 19 3 25 T out19 20 12 58 T ref2 5 1 57 reserved
Assembly and installation
Pin ATI signal Wire strandCable betweenPS / IFPS box
and dataacquisition
Designation NISensor connection(gamma & larger)
DAQ cableto PS /
IFPS boxconnector
68-pinconnector
(NI)
32 and64 pins
64 pins
without IP with IP
16 6 10 23 reserved15 3 19 52 FTD-C-PS-
V68 cablereserved
11 FTD-C-PS-NI cablereserved
Stripping Stripping Stripping Stripping Shielding Shielding(twisted pair)
D Gnd D Gnd
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Assembly and installation
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5.2.1 Force-torque sensor
Sensor cable connections
NOTEThe information on force-torque sensor connections only coversforce-torque sensors starting from gamma and larger withintegrated electronics. Customer-provided connections withforce-torque sensors without integrated electronics are notsupported and are therefore not considered in this manual.A force-torque sensor (gamma and larger) without IP protectionclass fits a Hirose HR25-9TP-20S connector, an IP-protected force-torque sensor (gamma and larger) fits a Lemo FGG3K.320connector.
Pin Wire strand SignalSensor
without IPSensor with
IP1 7 Brown SG0 output2 5 Orange reserved3 8 Brown / White SG0 reference4 14 Blue / White SG3 reference5 18 Grey / White SG5 reference6 1 Red +VANA power
input7 9 Yellow SG1 output8 13 Blue SG3 output9 17 Grey SG5 output
10 4 Black AGnd power input11 2 Red / White -VANA power input12 10 Yellow / White SG1 reference13 15 Violet SG4 output14 19 White T out15 3 Black / White reserved16 6 Orange / White reserved17 11 Green SG2 output18 16 Violet / White SG4 reference19 20 White / Black T ref20 12 Green / White SG2 reference
Stripping Stripping Shielding Shield
Assembly and installation
Electrical specifications and power supplyPS box and IFPS box with connected force-torque sensor
Signal Minimum Normaloperation
Maximum
+12V external power inputsupply voltage [VDC]
8 12 15
+5V power input voltage [VDC] 4.65 5 12+5V power input power [W] 1.6+5V power input current@4VDC [mA]
324
+5V power input current@5VDC [mA]
275
+5V power input current@12VDC [mA]
140
+5V power input current@15VDC [mA]
120
+5V power input noise [mV p-p] 75+5V power input regulation [%] 0.5
Force-torque sensor with integrated electronics
Signal Minimum Normaloperation
Maximum
+VANA power input voltage [VDC] 13 15 17-VANA power input voltage [VDC] -17 -15 -13+VANA power input current [mA] 50-VANA power input current [mA] -45VANA power input noise [mV p-p] 75VANA power input regulation [%] 0.5
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Assembly and installation
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5.2.2 PS / IFPS box
Connections DAQ cable FTD-C-PS-NI-X
26-pin connector, power supply box connection
68-pin connector, customer-provided data acquisition card connection
Pin26-pin
connector
Wire strand Signal Pin68-pin
connector1 Orange Ch7 out 572 Red +5 V power
input8
3 White T out 254 Grey SG5 output 605 Violet SG4 output 286 Blue SG3 output 307 Green SG2 output 658 Yellow SG1 output 339 Brown SG0 output 68
10 Orange / White Ch7 ref 2311 Red / White DGnd 1312 White / Black T ref 5813 Grey / White SG5 reference 2614 Violet / White SG4 reference 6115 Blue / White SG3 reference 6316 Green / White SG2 reference 3117 Yellow / White SG1 reference 6618 Brown / White SG0 reference 3419 Black / White DIO0 1122 Black AIGnd 56
Stripping Shielding Stripping
Assembly and installation
Connections DAQ cable FTD-C-PS-V68-X
26-pin connector, power supply box connection
V68 connector, customer-provided data acquisition card connection
Pin26-pin
connector
Wire strand Signal PinV68 connector
1 Orange Ch7 out 572 Red +5V power
input8, 14
3 White T out 254 Grey SG5 output 605 Violet SG4 output 286 Blue SG3 output 307 Green SG2 output 658 Yellow SG1 output 339 Brown SG0 output 68
10 Orange / White Ch7 ref 2311 Red / White DGnd 13, 1212 White / Black T ref 5813 Grey / White SG5 reference 2614 Violet / White SG4 reference 6115 Blue / White SG3 reference 6316 Green / White SG2 reference 3117 Yellow / White SG1 reference 6618 Brown / White SG0 reference 3419 Black / White DIO0 5222 Black AIGnd 56
Stripping Shielding Stripping
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Assembly and installation
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Connections DAQ cable with open wire strands (FTD-C-PS-U-X)
Signal Wire strand
Signal input forcustomer-provided
data acquisition
Connection toPS / IFPS box
5V power supply Note: Shown here is the 5V power supply via the DAQ cable. Alternatively, thepower supply can also be supplied by the 12V power supply unit provided.
Can be connected to customer-provided data acquisition card (differential)
Assembly and installation
Signal input forcustomer-provided
data acquisitionNote: Shown here is the 5V power supply via the DAQ cable. Alternatively, thepower supply can also be supplied by the 12V power supply unit provided.5V power supply
Connection toPS / IFPS box
Signal Wire strand
Can be connected to customer-provided data acquisition card (single-ended)
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Assembly and installation
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Pin Wire strand Signal Slot Pin Wire strand Signal Slot1 n.c. No connection PFI 0/
P0.0 (In)33 n.c. No connection PFI 8/
P0.4 (In)2 n.c. No connection PFI 1/
P0.1 (In)34 n.c. No connection PFI 9/
P0.5 (In)3 n.c. No connection PFI 2/
P0.2 (In)35 n.c. No connection PFI 10/
P0.6 (In)4 n.c. No connection PFI 3/
P0.3 (In)36 n.c. No connection PFI 11/
P0.7 (In)5 n.c. No connection D GND 37 n.c. No connection D GND6 n.c. No connection PFI 4/
P1.0(Out)
38 n.c. No connection PFI 12/P1.4(Out)
7 n.c. No connection PFI 5/P1.1(Out)
39 n.c. No connection PFI 13/P1.5(Out)
8 n.c. No connection PFI 6/P1.2(Out)
40 n.c. No connection PFI 14/P1.6(Out)
9 n.c. No connection PFI 7/P1.3(Out)
41 n.c. No connection PFI 15/P1.7(Out)
10 n.c. No connection +5 V 42 n.c. No connection +5 V11 Twisted
shieldingShielding D GND 43 Twisted
shieldingShielding D GND
12 n.c. No connection NC oderAO 0
44 n.c. No connection NC
13 n.c. No connection NC orAO1
45 n.c. No connection NC
14 n.c. No connection Reser orAO GND
46 n.c. No connection AI GND
15 Brown SG0 output AI 0 47 Brown SG0 output AI 1616 Brown / White SG0 reference AI 8 48 Brown / White SG0 reference AI 2417 Yellow SG1 output AI 1 49 Yellow SG1 output AI 1718 Yellow / White SG1 reference AI 9 50 Yellow / White SG1 reference AI 2519 Green SG2 output AI 2 51 Green SG2 output AI 1820 Green / White SG2 reference AI 10 52 Green / White SG2 reference AI 2621 Blue SG3 output AI 3 53 Blue SG3 output AI 1922 Blue / White SG3 reference AI 11 54 Blue / White SG3 reference AI 2723 n.c. No connection AI SENSE 55 n.c. No connection AI GND24 Violet SG4 output AI 4 56 Violet SG4 output AI 2025 Violet / White SG4 reference AI 12 57 Violet / White SG4 reference AI 28
Assembly and installation
Pin Wire strand Signal Slot Pin Wire strand Signal Slot26 Grey SG5 output AI 5 58 Grey SG5 output AI 2127 Grey / White SG5 reference AI 13 59 Grey / White SG5 reference AI 2928 Black AGnd power
inputAI GND 60 Black AI GND AI GND
29 n.c. No connection AI 6 61 n.c. No connection AI 2230 n.c. No connection AI 14 62 n.c. No connection AI 3031 n.c. No connection AI 7 63 n.c. No connection AI 2332 n.c. No connection AI 15 64 n.c. No connection AI 31
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Assembly and installation
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5.2.3 IFPSMC box
Sensor cable connection to IFPSMC box
Sensor connections to the IFPSMC box
Signal assignment sensor connections
Item Sensorconnec-tion
Signal NIdifferential
channel
NI +inputchannel
NI -inputchannel
DAQ cardconnector
# / NI +inputpin
DAQ cardconnector
# / NI -inputpin
6 1 SG0 AI 4 AI 4 AI 12 0 / 28 0 / 61SG1 AI 5 AI 5 AI 13 0 / 60 0 / 26SG2 AI 6 AI 6 AI 14 0 / 25 0 / 58SG3 AI 7 AI 7 AI 15 0 / 57 0 / 23SG4 AI 16 AI 16 AI 24 1 / 68 1 / 34SG5 AI 17 AI 17 AI 25 1 / 33 1 / 67
5 2 SG0 AI 18 AI 18 AI 26 1 / 32 1 / 66SG1 AI 19 AI 19 AI 27 1 / 65 1 / 31SG2 AI 20 AI 20 AI 28 1 / 30 1 / 64SG3 AI 21 AI 21 AI 29 1 / 29 1 / 63SG4 AI 22 AI 22 AI 30 1 / 62 1 / 28SG5 AI 23 AI 23 AI 31 1 / 27 1 / 61
4 3 SG0 AI 32 AI 32 AI 40 1 / 26 1 / 60SG1 AI 33 AI 33 AI 41 1 / 59 1 / 25SG2 AI 34 AI 34 AI 42 1 / 24 1 / 58SG3 AI 35 AI 35 AI 43 1 / 23 1 / 57SG4 AI 36 AI 36 AI 44 1 / 55 1 / 21SG5 AI 37 AI 37 AI 45 1 / 20 1 / 54
Assembly and installation
Item Sensorconnec-tion
Signal NIdifferential
channel
NI +inputchannel
NI -inputchannel
DAQ cardconnector
# / NI +inputpin
DAQ cardconnector
# / NI -inputpin
3 4 SG0 AI 38 AI 38 AI 46 1 / 19 1 / 53SG1 AI 39 AI 39 AI 47 1 / 52 1 / 18SG2 AI 48 AI 48 AI 56 1 / 17 1 / 51SG3 AI 49 AI 49 AI 57 1 / 16 1 / 50SG4 AI 50 AI 50 AI 58 1 / 49 1 / 15SG5 AI 51 AI 51 AI 59 1 / 14 1 / 48
2 5 SG0 AI 52 AI 52 AI 60 1 / 13 1 / 47SG1 AI 53 AI 53 AI 61 1 / 46 1 / 12SG2 AI 54 AI 54 AI 62 1 / 11 1 / 45SG3 AI 55 AI 55 AI 63 1 / 10 1 / 44SG4 AI 64 AI 64 AI 72 1 / 42 1 / 8SG5 AI 65 AI 65 AI 73 1 / 7 1 / 41
1 6 SG0 AI 66 AI 66 AI 74 1 / 6 1 / 40SG1 AI 67 AI 67 AI 75 1 / 39 1 / 5SG2 AI 68 AI 68 AI 76 1 / 4 1 / 38SG3 AI 69 AI 69 AI 77 1 / 3 1 / 37SG4 AI 70 AI 70 AI 78 1 / 36 1 / 2SG5 AI 71 AI 71 AI 79 1 / 1 1 / 35
The available signals on the IFPSMC box are shown in the appendixof this manual, Appendix [} 50].
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Assembly and installation
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Connections DAQ cable for IFPSMC box (SHC-68-68-EPM)
68-pin connector (VHDCI), customer-provided data acquisition card connection
68-pin connector (type D), IFPSMC box connection
Assembly and installation
Pin68-pin connector
(type D)
Wire strand Pin68-pin connector
(VHDCI)65 White / Black 6531 Black / White 3164 Shielding 1 6463 White / Brown 6330 Brown / White 3029 Shielding 2 2957 White / Red 5723 Red / White 2356 Shielding 3 5668 White / Orange 6834 Orange / White 3467 Shielding 4 6766 White / Green 6633 Green / White 3332 Shielding 5 3258 White / Blue 5825 Blue / White 2524 Shielding 6 2460 White / Violet 6026 Violet / White 2659 Shielding 7 5961 White / Grey 6128 Grey / White 2827 Shielding 8 2722 Brown / Black 2254 Black / Brown 5421 Red / Black 2155 Black / Red 5562 White / Yellow 6220 Red / Blue 2054 shielded 54
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Assembly and installation
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Power supply connection to IFPSMC box
PIN allocation for power supply
Pin Signal1 +V output3 0V input4 n.c.
Current flow at room temperature
Designation Input current [A]5VDC 12VDC 15VDC
9105-IFPSMC-2 0.36 0.19 0.169105-IFPSMC-3 0.54 0.28 0.249105-IFPSMC-4 0.72 0.37 0.329105-IFPSMC-5 0.90 0.46 0.409105-IFPSMC-6 1.08 0.56 0.48
Assembly and installation
5.3 Installing the softwarePreparing the installation1. If required: Download demo software from https://www.ati-
ia.com/Products/ft/software/ daq_software.aspx, open theSetup.exe file and follow the installation instructions of theprogram.
2. Insert CD included in the scope of delivery into the PC.3. Unpack the ZIP file "FTxxxx.zip".
✓ The unzipped files are named after the force-torque sensordesignations in FTxxxx.cal format. For the installation, onlythe file that is named after the force-torque sensor used isrequired.
4. Copy the file and store it in the program directory "ATI DAQFT". If several calibrations have been ordered, several files canbe copied.
Start demo program
NOTEThe demo program can only be used in conjunction with NationalInstruments devices.
1. Open the demo program under Programs > ATI DAQ FT > ATIDAQ FT Demo.✓ The program is started.
2. In the navigation, click on File > Load Calibration and open theunzipped FTxxxx.cal file.✓ Bar graphs for the measured forces and the measured
torques are displayed.
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Assembly and installation
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3. Load force-torque sensor carefully. IMPORTANT! Risk ofdamage to the sensor! Load the sensor carefully, otherwiseirreparable damage may occur.✓ The bar graphs move according to the load on the sensor.
4. Mount the sensor on the robot or other product. The Assemblyand Operating Manual for the sensor contains furtherinformation, Applicable documents [} 6].
5. During sensor installation, use the bar graphs to check that thesensor is not overloaded.
Left: Load within the range of measurement, right: Load outside the permissible rangeof measurement
6. When the sensor has been successfully mounted, select"Resolved F/T Data" in the "Data Type" box.
✔ The force-torque sensor system is ready for use.
Operation
6 OperationThe DAQ software converts the signals of the strain gauges in theFT sensor into force and torque values. With the help of anapplication, the values can be viewed and edited.The ATI DAQ F/T software includes software components that canbe used to create an application. In addition, the software includesdemo programs that make the installation of the force-torquesensor easier.
6.1 Available software interfaces and demo programsAvailable software interfacesThe software interfaces "ATI DAQ FT Automation Server" and "C-Library" read out the calibration files, configure the sensor systemand convert raw voltages from any data acquisition system intoforces and moments.• ATI DAQ FT: ATI DAQ FT is an ActiveX DLL with reusable code
components. To use ATI DAQ FT, the user must read thevoltages from the DAQ device and forward these voltages to ATIDAQ FT to calculate the forces and moments. ATI DAQ FT can beused on Windows in a programming environment that supportsActiveX or Automated Containment - i.e. Microsoft Visual Basic6.0, Microsoft Visual C++, Microsoft NET Platform and NationalInstruments LabVIEW. For users who do not use NI-DAQinstruments, ATI DAQ FT provides a hardware-independentmath library. The ATI DAQ F/T software help file containsfurther information, Applicable documents [} 6].
• C library: Reusable components in the C programming languageto convert the voltages that have been read into forces andmoments. The library uses standard ANSI C and mainly supportsnon-Windows operating systems.
Demo programsThe demo programs display the forces and moments transmittedby National Instrument devices in real time.• Windows Demo (Visual Basic 6.0): This demo program offers the
possibility of testing the sensor system in the Windowsenvironment. It uses National Instruments software and ATIDAQ F/T software. The program can configure the sensorsystem and includes a Microsoft Visual Basic 6.0 source.
• LabVIEW Sample: This demo program in LabVIEW uses the ATIDAQ FT automation application and analog input provided byNational Instrument devices to represent forces and moments.
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Operation
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6.2 Manual calculationsIf no special software is required for the calculation of forces andmoments, the values can also be calculated manually using simplematrix multiplication. A prerequisite for this is that the raw datacan be read out manually from the DAQ device. The raw data isthen the basis for the manual matrix multiplication.
6.3 Creating your own applicationAs an alternative to the predefined software interfaces, the DAQ-F/T application can also be created manually to convert the signalsof the strain gauges in the sensor into force and torque values.Two components are necessary for this:• Device drivers for the DAQ instrument and target operating
system: National Instruments offers a variety of drivers forWindows, including 32-bit DLLs, LabVIEW VIs, and ActiveXcontrols, for use with your devices. Drivers for other operatingsystems in combination with National Instruments devices areavailable from third-party vendors. If other DAQ devices areused, either the device vendors will provide the necessarydrivers or the drivers also have to be obtained from third partyvendors.
• ATI DAQ FT components or C library: For Windows, SCHUNKrecommends the ATI DAQ FT. In some cases ATI DAQ FT cannotbe used, e.g. if ActiveX is not supported. In these cases, ATI DAQFT can assist in the installation of the sensor, but does not haveto be part of the final application.
The ATI DAQ F/T software help file contains further information,Applicable documents [} 6].
Troubleshooting
7 Troubleshooting
7.1 SaturationPossible cause Corrective actionForce-torque sensor or data acquisitionhardware is subject to a load or signal that isoutside the range of measurement
Pause force application on force-torquesensor until the error disappears.If the error does not disappear, the overloadvalue was exceeded or the power supplywas disconnected.
7.2 Signal noisePossible cause Corrective actionSignal noise is caused by mechanicalvibrations or electrical interference.
Ensure that the system is properly groundedand isolated from external electricalinterference.A component in the system has failed.
7.3 Measurement data deviation / driftPossible cause Corrective actionMeasured values are not completely resetafter loading and unloading.
Drift is caused, for example, by rapidtemperature changes. Have the force-torquesensor adjusted to the ambient temperaturebefore measuring again.Operate all components separately.Thoroughly clean the sensor body andadapter plate of contamination.
There is an internal error in the entiresystem.
7.4 HysteresisPossible cause Corrective actionMeasured values are not completely resetafter loading and unloading.
Operate all components separately.Thoroughly clean the sensor body andadapter plate of contamination.
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Maintenance
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8 Maintenance
CAUTIONMaterial damage due to improper disassembly!Incorrect works can cause damage to the mechanics and internalelectronics.• Disassembly or opening of the product is not permitted.• Only allow SCHUNK to repair the product.
This product must not be disassembled for maintenance.Maintenanceintervals
Maintenanceinterval
Maintenance work
weekly Check all parts for damage and wear.annual Send sensor and power supply box to
SCHUNK for calibration.Send sensors and IFPSMC box to SCHUNK forcalibration.
as required Send damaged products to SCHUNK forrepair.
EU Declaration of Conformity
9 EU Declaration of Conformity
Manufacturer/Distributor
SCHUNK GmbH & Co. KG Clamping and gripping technology Bahnhofstr. 106 - 134 D-74348 Lauffen/Neckar
We hereby declare on our sole authority that the product meets the requirements of thefollowing directive at the time of declaration. The declaration is rendered invalid if modifications are made to the product.
Product designation: Force-torque sensor system FTDThis declaration of conformity is valid for all variants mentioned inthe appendix.
Electromagnetic compatibility (EMC Directive) 2014/30/EU
Applied harmonized standards, especially:
EN 61326-2-3:2013 Electrical equipment for measurement, control and laboratoryuse - EMC requirements – Part 2-3: Particular requirements – Testconfiguration, operational conditions and performance criteria fortransducers with integrated or remote signal conditioning. (IEC61326-2-3:2012)
EN ISO 12100:2010 Safety of machinery - General principles for design -Risk assessment and risk reduction
All related technical documentation has been prepared in electronic form according toDirective 2014/30/EU and will be made available to national authorities on demand. Thesignatory is resident at the manufacturer's address and is authorized to compile thisdocumentation.
Signed for and on behalf of: SCHUNK GmbH & Co. KG
Dr.-Ing. Manuel Baumeister,Technology & Innovation, Mechatronics & Sensors
Lauffen/Neckar, July 2021
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Appendix to the declaration of conformity
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10 Appendix to the declaration of conformityThis declaration of conformity is valid for all variants of the force/torque sensor mentioned in this appendix.
FTD-interfaceFTD-Nano-17 SI-12-0.12FTD-Nano-17 SI-25-0.25FTD-Nano-17 SI-50-0.5FTD-Nano-17-T SI-8-0.05FTD-Nano-17-T SI-16-0.1FTD-Nano-17-T SI-32-0.2FTD-Nano-25 SI-125-3FTD-Nano-25 SI-250-6FTD-Nano-43 SI-9-0.125FTD-Nano-43 SI-18-0.25FTD-Nano-43 SI-36-0.5FTD-Mini-40 SI-20-1FTD-Mini-40 SI-40-2FTD-Mini-40 SI-80-4FTD-Mini 43 SI-62-0.75FTD-Mini 43 SI-125-1.5FTD-Mini 43 SI-250-3FTD-Mini-45 SI-145-5FTD-Mini-45 SI-290-10FTD-Mini-45 SI-580-20FTD-Mini-58 SI-700-30FTD-Mini-58 SI-1400-60FTD-Mini-58 SI-2800-120FTD-Mini-85 SI-475-20FTD-Mini-85 SI-950-40FTD-Mini-85 SI-1900-80FTD-Gamma SI-32-2.5FTD-Gamma SI-65-5FTD-Gamma SI-130-10FTD-Delta SI-165-15FTD-Delta SI-330-30FTD-Delta SI-660-60FTD-Theta SI-1000-120FTD-Theta SI-1500-240FTD-Theta SI-2500-400FTD-Omega85 SI-475-20
Appendix to the declaration of conformity
FTD-Omega85 SI-950-40FTD-Omega85 SI-1900-80FTD-Omega-160 SI-1000-120FTD-Omega-160 SI-1500-240FTD-Omega-160 SI-2500-400FTD-Omega-191 SI-1800-350FTD-Omega-191 SI-3600-700FTD-Omega-191 SI-7200-1400FTD-Omega-250 SI 4000 500FTD-Omega-250 SI 8000 1000FTD-Omega-250 SI-16000-2000FTD-Omega-331 SI-10000-1500FTD-Omega-331 SI-20000-3000FTD-Omega-331 SI-40000-6000
FTN-interfaceFTN-Nano-17 SI-12-0.12FTN-Nano-17 SI-25-0.25FTN-Nano-17 SI-50-0.5FTN-Nano-17-T SI-8-0.05FTN-Nano-17-T SI-16-0.1FTN-Nano-17-T SI-32-0.2FTN-Nano-25 SI-125-3FTN-Nano-25 SI-250-6FTN-Nano-43 SI-9-0.125FTN-Nano-43 SI-18-0.25FTN-Nano-43 SI-36-0.5FTN-Mini-40 SI-20-1FTN-Mini-40 SI-40-2FTN-Mini-40 SI-80-4FTN-Mini 43 SI-62-0.75FTN-Mini 43 SI-125-1.5FTN-Mini 43 SI-250-3FTN-Mini-45 SI-145-5FTN-Mini-45 SI-290-10FTN-Mini-45 SI-580-20FTN-Mini-58 SI-700-30FTN-Mini-58 SI-1400-60FTN-Mini-58 SI-2800-120FTN-Mini-85 SI-475-20FTN-Mini-85 SI-950-40
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Appendix to the declaration of conformity
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FTN-Mini-85 SI-1900-80FTN-Gamma SI-32-2.5FTN-Gamma SI-65-5FTN-Gamma SI-130-10FTN-Delta SI-165-15FTN-Delta SI-330-30FTN-Delta SI-660-60FTN-Theta SI-1000-120FTN-Theta SI-1500-240FTN-Theta SI-2500-400FTN-Omega85 SI-475-20FTN-Omega85 SI-950-40FTN-Omega85 SI-1900-80FTN-Omega 160 SI 1000 120FTN-Omega-160 SI-1500-240FTN-Omega 160 SI 2500 400FTN-Omega-191 SI-1800-350FTN-Omega-191 SI-3600-700FTN-Omega-191 SI-7200-1400FTN-Omega-250 SI-4000-500FTN-Omega 250 SI-8000-1000FTN-Omega 250 SI 16000 2000FTN-Omega-331 SI-10000-1500FTN-Omega-331 SI-20000-3000FTN-Omega 331 SI-40000-6000
FTE-interfaceFTE-Nano-17 SI-12-0.12FTE-Nano-17 SI-25-0.25FTE-Nano-17 SI-50-0.5FTE-Nano-17-T SI-8-0.05FTE-Nano-17-T SI-16-0.1FTE-Nano-17-T SI-32-0.2FTE-Nano-25 SI-125-3FTE-Nano-25 SI-250-6FTE-Nano-43 SI-9-0.125FTE-Nano-43 SI-18-0.25FTE-Nano-43 SI-36-0.5FTE-Mini-40 SI-20-1FTE-Mini-40 SI-40-2FTE-Mini-40 SI-80-4
Appendix to the declaration of conformity
FTE-Mini 43 SI-62-0.75FTE-Mini 43 SI-125-1.5FTE-Mini 43 SI-250-3FTE-Mini-45 SI-145-5FTE-Mini-45 SI-290-10FTE-Mini-45 SI-580-20FTE-Mini-58 SI-700-30FTE-Mini-58 SI-1400-60FTE-Mini-58 SI-2800-120FTE-Mini-85 SI-475-20FTE-Mini-85 SI-950-40FTE-Mini-85 SI-1900-80FTE-Gamma IP65 SI-32-2.5FTE-Gamma IP65 SI-65-5FTE-Gamma-IP65 SI-130-10FTE-Delta-IP60 SI-165-15FTE-Delta-IP65 SI-165-15FTE-Delta-IP60 SI-330-30FTE-Delta-IP65 SI-330-30FTE-Delta-IP60 SI-660-60FTE-Delta IP65 SI-660-60FTE-Omega 160-IP60 SI 1000-120FTE-Omega 160-IP65 SI 1000-120FTE-Omega 160-IP60 SI 1500-240FTE-Omega 160-IP65 SI 1500-240FTE-Omega 160-IP60 SI 2500-400FTE-Omega 160-IP65 SI 2500-400FTE-Omega 250 IP60 SI 4000 500FTE-Omega 250-IP60 SI-8000-1000FTE-Omega 250-IP60 SI-16000-2000
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Appendix
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11 AppendixFurther information
2 [} 50]
11.1
Multiple IFPS Box Connector 0 and Connector 1
IFPSMC Box Connector 0 User Signals AvailablePin
Number SignalIFPS Model
IFPSMC-1 IFPSMC-2 IFPSMC-3 IFPSMC-4 IFPSMC-5 IFPSMC-61 P2.6 Available Available Available Available Available Available2 P2.4 Available Available Available Available Available Available3 P2.1 Available Available Available Available Available Available4 D GND Available Available Available Available Available Available5 P1.6 Available Available Available Available Available Available6 P1.5 Available Available Available Available Available Available7 D GND Available Available Available Available Available Available8 +5V Available Available Available Available Available Available9 D GND Available Available Available Available Available Available10 P1.1 Available Available Available Available Available Available11 P1.0 Available Available Available Available Available Available12 D GND Available Available Available Available Available Available13 D GND Available Available Available Available Available Available14 +5V Available Available Available Available Available Available15 D GND Available Available Available Available Available Available16 P0.6 Available Available Available Available Available Available17 P0.1 Available Available Available Available Available Available18 D GND Available Available Available Available Available Available19 P0.4 Available Available Available Available Available Available20 NC Available Available Available Available Available Available21 AO 1 Available Available Available Available Available Available22 AO 0 Available Available Available Available Available Available23 AI 15 Available Available Available Available Available TC1-SG3(-)24 AI GND25 AI 6 Available Available Available Available Available TC1-SG2(+)26 AI 13 Available Available Available Available Available TC1-SG1(-)27 AI GND28 AI 4 Available Available Available Available Available TC1-SG0(+)29 AI GND30 AI 3 Available(+) Available(+) Available(+) Available(+) Available(+) Available(+)31 AI 10 Available(-) Available(-) Available(-) Available(-) Available(-) Available(-)32 AI GND33 AI 1 Available(+) Available(+) Available(+) Available(+) Available(+) Available(+)34 AI 8 Available(-) Available(-) Available(-) Available(-) Available(-) Available(-)
Notes:1. TC-SGx(x) = Transducer Connection number - Signal (SGx) - positive (+) or negative (-) input2. Available (x) = User signal available - positive (+) or negative (-) input
Appendix
IFPSMC Box Connector 0 User Signals AvailablePin
Number SignalIFPS Model
IFPSMC-1 IFPSMC-2 IFPSMC-3 IFPSMC-4 IFPSMC-5 IFPSMC-635 D GND Available Available Available Available Available Available36 D GND Available Available Available Available Available Available37 P2.0 Available Available Available Available Available Available38 P1.7 Available Available Available Available Available Available39 P2.7 Available Available Available Available Available Available40 P2.5 Available Available Available Available Available Available41 P1.4 Available Available Available Available Available Available42 P1.3 Available Available Available Available Available Available43 P1.2 Available Available Available Available Available Available44 D GND Available Available Available Available Available Available45 P2.2 Available Available Available Available Available Available46 P2.3 Available Available Available Available Available Available47 P0.3 Available Available Available Available Available Available48 P0.7 Available Available Available Available Available Available49 P0.2 Available Available Available Available Available Available50 D GND Available Available Available Available Available Available51 P0.5 Available Available Available Available Available Available52 P0.0 Available Available Available Available Available Available53 D GND Available Available Available Available Available Available54 AO GND Available Available Available Available Available Available55 AO GND Available Available Available Available Available Available56 AI GND57 AI 7 Available(+) Available(+) Available(+) Available(+) Available(+) TC1-SG3(+)58 AI 14 Available(-) Available(-) Available(-) Available(-) Available(-) TC1-SG2(-)59 AI GND60 AI 5 Available(+) Available(+) Available(+) Available(+) Available(+) TC1-SG1(+)61 AI 12 Available(-) Available(-) Available(-) Available(-) Available(-) TC1-SG0(-)62 AI SENSE163 AI 11 Available(-) Available(-) Available(-) Available(-) Available(-) Available(-)64 AI GND65 AI 2 Available(+) Available(+) Available(+) Available(+) Available(+) Available(+)66 AI 9 Available(-) Available(-) Available(-) Available(-) Available(-) Available(-)67 AI GND68 AI 0 Available(+) Available(+) Available(+) Available(+) Available(+) Available(+)
Notes:1. TC-SGx(x) = Transducer Connection number - Signal (SGx) - positive (+) or negative (-) input2. Available (x) = User signal available - positive (+) or negative (-) input
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Appendix
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Multiple IFPS Box Connector 0 and Connector 1
IFPSMC Box Connector 1 User Signals AvailablePin
Number SignalIFPS Model
IFPSMC-1 IFPSMC-2 IFPSMC-3 IFPSMC-4 IFPSMC-5 IFPSMC-61 Al 71 Available(+) Available(+) Available(+) Available(+) TC6-SG5(+) TC6-SG5(+)
2 Al 78 Available(-) Available(-) Available(-) Available(-) TC6-SG4(-) TC6-SG4(-)3 Al 69 Available(+) Available(+) Available(+) Available(+) TC6-SG3(+) TC6-SG3(+)4 Al 68 Available(+) Available(+) Available(+) Available(+) TC6-SG2(+) TC6-SG2(+)5 Al 75 Available(-) Available(-) Available(-) Available(-) TC6-SG1(-) TC6-SG1(-)6 Al 66 Available(+) Available(+) Available(+) Available(+) TC6-SG0(+) TC6-SG0(+)7 Al 65 Available(+) Available(+) Available(+) TC5-SG5(+) TC5-SG5(+) TC5-SG5(+)8 Al 72 Available(-) Available(-) Available(-) TC5-SG4(-) TC5-SG4(-) TC5-SG4(-)9 AI GND
10 AI 55 Available(+) Available(+) Available(+) TC5-SG3(+) TC5-SG3(+) TC5-SG3(+)11 AI 54 Available(+) Available(+) Available(+) TC5-SG2(+) TC5-SG2(+) TC5-SG2(+)12 Al 61 Available(-) Available(-) Available(-) TC5-SG1(-) TC5-SG1(-) TC5-SG1(-)13 AI 52 Available(+) Available(+) Available(+) TC5-SG0(+) TC5-SG0(+) TC5-SG0(+)14 AI 51 Available(+) Available(+) TC4-SG5(+) TC4-SG5(+) TC4-SG5(+) TC4-SG5(+)15 AI 58 Available(-) Available(-) TC4-SG4(-) TC4-SG4(-) TC4-SG4(-) TC4-SG4(-)16 Al 49 Available(+) Available(+) TC4-SG3(+) TC4-SG3(+) TC4-SG3(+) TC4-SG3(+)17 Al 48 Available(+) Available(+) TC4-SG2(+) TC4-SG2(+) TC4-SG2(+) TC4-SG2(+)18 Al 47 Available(-) Available(-) TC4-SG1(-) TC4-SG1(-) TC4-SG1(-) TC4-SG1(-)19 Al 38 Available(+) Available(+) TC4-SG0(+) TC4-SG0(+) TC4-SG0(+) TC4-SG0(+)20 Al 37 Available(+) TC3-SG5(+) TC3-SG5(+) TC3-SG5(+) TC3-SG5(+) TC3-SG5(+)21 Al 44 Available(-) TC3-SG4(-) TC3-SG4(-) TC3-SG4(-) TC3-SG4(-) TC3-SG4(-)22 AI GND23 Al 35 Available(+) TC3-SG3(+) TC3-SG3(+) TC3-SG3(+) TC3-SG3(+) TC3-SG3(+)24 Al 34 Available(+) TC3-SG2(+) TC3-SG2(+) TC3-SG2(+) TC3-SG2(+) TC3-SG2(+)25 Al 41 Available(-) TC3-SG1(-) TC3-SG1(-) TC3-SG1(-) TC3-SG1(-) TC3-SG1(-)26 Al 32 Available(+) TC3-SG0(+) TC3-SG0(+) TC3-SG0(+) TC3-SG0(+) TC3-SG0(+)27 AI 23 TC2-SG5(+) TC2-SG5(+) TC2-SG5(+) TC2-SG5(+) TC2-SG5(+) TC2-SG5(+)28 AI 30 TC2-SG4(-) TC2-SG4(-) TC2-SG4(-) TC2-SG4(-) TC2-SG4(-) TC2-SG4(-)29 AI 21 TC2-SG3(+) TC2-SG3(+) TC2-SG3(+) TC2-SG3(+) TC2-SG3(+) TC2-SG3(+)30 AI 20 TC2-SG2(+) TC2-SG2(+) TC2-SG2(+) TC2-SG2(+) TC2-SG2(+) TC2-SG2(+)31 AI 27 TC2-SG1(-) TC2-SG1(-) TC2-SG1(-) TC2-SG1(-) TC2-SG1(-) TC2-SG1(-)32 AI 18 TC2-SG0(+) TC2-SG0(+) TC2-SG0(+) TC2-SG0(+) TC2-SG0(+) TC2-SG0(+)33 Al 17 Available(+) Available(+) Available(+) Available(+) Available(+) TC1-SG5(+)34 Al 24 Available(-) Available(-) Available(-) Available(-) Available(-) TC1-SG4(-)
Notes:1. TC-SGx(x) = Transducer Connection number - Signal (SGx) - positive (+) or negative (-) input2. Available (x) = User signal available - positive (+) or negative (-) input
Appendix
IFPSMC Box Connector 1 User Signals AvailablePin
Number SignalIFPS Model
IFPSMC-1 IFPSMC-2 IFPSMC-3 IFPSMC-4 IFPSMC-5 IFPSMC-635 Al 79 Available(-) Available(-) Available(-) Available(-) TC6-SG5(-) TC6-SG5(-)36 Al 70 Available(+) Available(+) Available(+) Available(+) TC6-SG4(+) TC6-SG4(+)37 Al 77 Available(-) Available(-) Available(-) Available(-) TC6-SG3(-) TC6-SG3(-)38 Al 76 Available(-) Available(-) Available(-) Available(-) TC6-SG2(-) TC6-SG2(-)39 Al 67 Available(+) Available(+) Available(+) Available(+) TC6-SG1(+) TC6-SG1(+)40 Al 74 Available(-) Available(-) Available(-) Available(-) TC6-SG0(-) TC6-SG0(-)41 Al 73 Available(-) Available(-) Available(-) TC5-SG5(-) TC5-SG5(-) TC5-SG5(-)42 Al 64 Available(+) Available(+) Available(+) TC5-SG4(+) TC5-SG4(+) TC5-SG4(+)43 AI GND44 Al 63 Available(-) Available(-) Available(-) TC5-SG3(-) TC5-SG3(-) TC5-SG3(-)45 Al 62 Available(-) Available(-) Available(-) TC5-SG2(-) TC5-SG2(-) TC5-SG2(-)46 AI 53 Available(+) Available(+) Available(+) TC5-SG1(+) TC5-SG1(+) TC5-SG1(+)47 Al 60 Available(-) Available(-) Available(-) TC5-SG0(-) TC5-SG0(-) TC5-SG0(-)48 AI 59 Available(-) Available(-) TC4-SG5(-) TC4-SG5(-) TC4-SG5(-) TC4-SG5(-)
49 Al 50 Available(+) Available(+) TC4-SG4(+) TC4-SG4(+) TC4-SG4(+) TC4-SG4(+)50 AI 57 Available(-) Available(-) TC4-SG3(-) TC4-SG3(-) TC4-SG3(-) TC4-SG3(-)51 AI 56 Available(-) Available(-) TC4-SG2(-) TC4-SG2(-) TC4-SG2(-) TC4-SG2(-)52 Al 39 Available(+) Available(+) TC4-SG1(+) TC4-SG1(+) TC4-SG1(+) TC4-SG1(+)53 Al 46 Available(-) Available(-) TC4-SG0(-) TC4-SG0(-) TC4-SG0(-) TC4-SG0(-)54 Al 45 Available(-) TC3-SG5(-) TC3-SG5(-) TC3-SG5(-) TC3-SG5(-) TC3-SG5(-)55 Al 36 Available(+) TC3-SG4(+) TC3-SG4(+) TC3-SG4(+) TC3-SG4(+) TC3-SG4(+)56 AI SENSE 257 Al 43 Available(-) TC3-SG3(-) TC3-SG3(-) TC3-SG3(-) TC3-SG3(-) TC3-SG3(-)58 Al 42 Available(-) TC3-SG2(-) TC3-SG2(-) TC3-SG2(-) TC3-SG2(-) TC3-SG2(-)59 Al 33 Available(+) TC3-SG1(+) TC3-SG1(+) TC3-SG1(+) TC3-SG1(+) TC3-SG1(+)60 Al 40 Available(-) TC3-SG0(-) TC3-SG0(-) TC3-SG0(-) TC3-SG0(-) TC3-SG0(-)61 AI 31 TC2-SG5(-) TC2-SG5(-) TC2-SG5(-) TC2-SG5(-) TC2-SG5(-) TC2-SG5(-)62 AI 22 TC2-SG4(+) TC2-SG4(+) TC2-SG4(+) TC2-SG4(+) TC2-SG4(+) TC2-SG4(+)63 AI 29 TC2-SG3(-) TC2-SG3(-) TC2-SG3(-) TC2-SG3(-) TC2-SG3(-) TC2-SG3(-)64 AI 28 TC2-SG2(-) TC2-SG2(-) TC2-SG2(-) TC2-SG2(-) TC2-SG2(-) TC2-SG2(-)65 AI 19 TC2-SG1(+) TC2-SG1(+) TC2-SG1(+) TC2-SG1(+) TC2-SG1(+) TC2-SG1(+)66 AI 26 TC2-SG0(-) TC2-SG0(-) TC2-SG0(-) TC2-SG0(-) TC2-SG0(-) TC2-SG0(-)67 Al 25 Available(-) Available(-) Available(-) Available(-) Available(-) TC1-SG5(-)68 Al 16 Available(+) Available(+) Available(+) Available(+) Available(+) TC1-SG4(+)
Notes:1. TC-SGx(x) = Transducer Connection number - Signal (SGx) - positive (+) or negative (-) input2. Available (x) = User signal available - positive (+) or negative (-) input
5302.00 | FTD | Commissioning instructions | en | 389627
Translation of original commissioning instructions
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