Has anyone had any experience of interfacing either an FT150 or FT300 Robotiq force torque sensor with a KRC2?
Thanks,
Has anyone had any experience of interfacing either an FT150 or FT300 Robotiq force torque sensor with a KRC2?
Thanks,
Not that specific type, no. I have used a 6-axis ATI force-torque sensor with a KRC2 over DeviceNet and ProfiBus. Are you planning to use FTC and/or RSI with this sensor?
I don't think we have either FTC or RSI in our cell, though we do have Ethernet XML. The manuals for the Robotiq sensor say it uses Modbus RTU over RS485. From what I've read trying to send this over DeviceNet isn't really possible. The FT sensor is overkill really for this project as I'll effectively be using it as a switch to verify contact during a placing task. With that in mind I'm also considering using a micro-controller to interpret the output of the FT sensor and set a digital output when the required force is reached which I can read into the KRC2. Perhaps also a bit overkill....
"There is no 'overkill'. There is only 'open fire' and 'reload.'"
Okay... I'm guessing that you don't have any FieldBus adapters on the KRC2, aside from the built-in DeviceNet port?
Your plan sounds like a decent one. If you're doing any kind of search-to-contact motion, you'll want to look into using the Fast Inputs, which would require a bit of custom wiring, but is entirely doable. Otherwise, you can just wire your micro's output pin to a compatible digital-input slave module connected to your DeviceNet bus (which has a random lag of up to ~15ms or so, so be aware). Also, keep in mind your micro is probably a 3.3V or 5V device, and most industrial DeviceNet I/O slaves use 24VDC, so you'll need a voltage level converter, or to obtain a DeviceNet input module compatible with your microcontroller.
Going a bit further afield... a micro with a tight software loop might be sufficient to constantly convert the RS485 data into analog outputs, wired into a number of DeviceNet analog inputs. A bit kludgey, and introduced potential signal lag that you would have to watch out for, but might provide an option with more flexibility than a simple "bang-bang" conversion.
We do have Profibus I'm told.
I'll have a look at the Fast Inputs, thanks. Yea, I've spec'd a few optocouplers to get up to the 24VDC from the MCU's 5VDC.
Nice idea with the RS485 -> MCU -> analog inputs, I might think about this for use in future projects, if I get time