interface 6A Multicomponent Sensors Instruction Manual

interface 6A Multicomponent Sensors Instruction Manual

Function of the 6A Multicomponent Sensors

The set of 6A Multicomponent Sensors comprises six independent force sensors equipped with strain gauges.
Using the six sensor signals, a calculation rule is applied to calculate the forces within threespatial axes and the three moments around them.
The measurement range of the multicomponent sensor is determined:

pels rangs de mesura dels sis sensors de força independents, i
per la disposició geomètrica dels sis sensors de força o mitjançant el diàmetre del sensor.

The individual signals from the six force sensors cannot be directly associated with specific force or moment by multiplying with a scaling factor.
La regla de càlcul es pot descriure amb precisió en termes matemàtics mitjançant el producte creuat de la matriu de calibratge amb el vector dels sis senyals del sensor.
Aquest enfocament funcional té el següent avantatgetages:

Rigidesa especialment alta,
Separació particularment eficaç dels sis components ("conversació baixa").

Matriu de calibratge
The calibration matrix A describes the connection between the indicated output signals U of the measurement ampen els canals 1 a 6 (u1, u2, u3, u4, u5, u6) i components 1 a 6 (Fx, Fy, Fz, Mx, My, Mz) del vector de càrrega L.

Measured value: output signals u1, u2, …u6 onchannels 1 to 6	output signal U
Calculated value: forces Fx, Fy, Fz;moments Mx, My, Mz	Load vector L
Calculation rule: Cross product	L = A x U

The calibration matrix Aij includes 36 elements, arranged in 6 rows (i=1..6) and 6 columns(j=1..6).
La unitat dels elements de la matriu és N/(mV/V) a les files 1 a 3 de la matriu.
La unitat dels elements de la matriu és Nm/(mV/V) a les files 4 a 6 de la matriu.
La matriu de calibratge depèn de les propietats del sensor i de la mesuraampmés viu.
S'aplica a la mesura BX8 amplifier i per a tots ampLificadors, que indiquen senyals de sortida del pont en mV/V.
Els elements de la matriu es poden reescalar en altres unitats per un factor comú mitjançant la multiplicació (utilitzant un "producte escalar").

La matriu de calibratge calcula els moments al voltant de l'origen del sistema de coordenades subjacent.
The origin of the coordinate system is located at the point where the z-axis intersects with the facing surface of the sensor.1) The origin and orientations of the axes are shown by an engraving on the facing surface of the sensor.
The position of the origin may vary with 6A sensor types. The origin is documented in the calibration sheet. E.G the origin of 6A68 is in the center of the sensor.

Example of a calibration matrix (6A, 6ADF)

—	u1 in mV/V	u2 in mV/V	u3 in mV/V	u4 in mV/V	u5 in mV/V	u6 in mV/V
Fx in N / mV/V	-217.2	108.9	99.9	-217.8	109.2	103.3
Fy in N / mV/V	-2.0	183.5	-186.3	-3.0	185.5	-190.7
Fz in N / mV/V	-321.0	-320.0	-317.3	-321.1	-324.4	-323.9
Mx in Nm / mV/V	7.8	3.7	-3.8	-7.8	-4.1	4.1
My in Nm / mV/V	-0.4	6.6	6.6	-0.4	-7.0	-7.0
Mz in Nm / mV/V	-5.2	5.1	-5.1	5.1	-5.0	5.1

The force in the x-direction is calculated by multiplying and totalling up the matrix elements of the first row a1j with the rows of the vector of the output signals uj.

Per exampLI: on all 6 measurement channels is u1 = u2 = u3 = u4 = u5 =u6 = 1.00mV/V displayed. Then there is a force Fx of -13.7 N.
The force in the z direction is calculated accordingly by multiplying and summing the thirdrow of the matrix a3j with the vector of the indicated voltages uj:

Matrix Plus for 6A / 6ADF sensors

Quan s'utilitza el procediment de calibratge "Matrix Plus", es calculen dos productes creuats: matriu A x U + matriu B x U *

Measured values: output signals u1, u2, … u6 atchannels 1 to 6	output signals U
Measured values are output signals as mixed products: u1u2, u1u3, u1u4, u1u5, u1u6, u2u3 of channels 1 to 6	output signals U*
Calculated value: Forces Fx, Fy, Fz;Moments Mx, My, Mz	Load vector L.
Calculation rule: Cross product	L = A x U + B x U*

Exampfitxer d'una matriu de calibratge "B"

—	u1·u2 in (mV/V)²	u1·u3 in (mV/V)²	u1·u4 in (mV/V)²	u1·u5 in (mV/V)²	u1·u6 in (mV/V)²	u2·u3 in (mV/V)²
Fx in N / (mV/V)²	-0.204	-0.628	0.774	-0.337	-3.520	2.345
Fy in N /(mV/V)²	-0.251	1.701	-0.107	-2.133	-1.408	1.298
Fz in N / (mV/V)²	5.049	-0.990	1.453	3.924	19.55	-18.25
Mx in Nm /(mV/V)²	-0.015	0.082	-0.055	-0.076	0.192	-0.054
My in Nm / (mV/V)²	0.050	0.016	0.223	0.036	0.023	-0.239
Mz in Nm / (mV/V)²	-0.081	-0.101	0.027	-0.097	-0.747	0.616

The force in the x-direction is calculated by multiplying and summing the matrix elements Aof the first row a1j with the rows j of the vector of the output signals uj plus matrix elements B of the first row a1j with the rows j of the vector of the mixed quadratic output signals:

Exampel de Fx

Exampel de Fz

Atenció: The composition of the mixed quadratic terms may change depending on the
sensor.

Desplaçament de l'origen

Forces which are not applied in the origin of the coordinate system are shown by an indicator in the form of Mx, My and Mz moments based on the lever arm.

Generally speaking, the forces are applied at a distance z from the facing surface of the sensor. The location of the force transmission may also be shifted in x- and z-directions as required.

If the forces are applied at distance x, y or z from the origin of the coordinate system, and the moments around the offset force transmission location need to be shown, the following corrections are required:

Corrected moments Mx1, My1, Mz1 following a shift in force transmission (x, y, z) from the origin

Mx1 = Mx + y*Fz – z*Fy My1 = My + z*Fx – x*Fz Mz1 = Mz + x*Fy – y*Fx

Nota: El sensor també està exposat als moments Mx, My i Mz, amb els moments Mx1, My1 i Mz1 mostrats. No s'han de superar els moments admissibles Mx, My i Mz.

Escalat de la matriu de calibratge

En referir els elements de la matriu a la unitat mV/V, la matriu de calibratge es pot aplicar a tots els disponibles ampaixecadors.

La matriu de calibratge amb els elements de la matriu N/V i Nm/V s'aplica a la mesura BSC8 amplifier with an input sensitivity of 2 mV/V and an output signal of 5V with a 2mV/V input signal.

La multiplicació de tots els elements de la matriu per un factor de 2/5 escala la matriu de N/(mV/V) i Nm/(mV/V) per a una sortida de 5V a una sensibilitat d'entrada de 2 mV/V (BSC8).

En multiplicar tots els elements de la matriu per un factor de 3.5/10, la matriu s'escala de N/(mV/V) i Nm/(mV/V) per a un senyal de sortida de 10 V a una sensibilitat d'entrada de 3.5 mV/V (BX8). )

The unit of the factor is (mV/V)/
La unitat dels elements del vector de càrrega (u1, u2, u3, u4, u5, u6) són voltagés en V

Exampel de Fx
Analog output with BX8. input sensitivity 3.5 mV/V. output signal 10V:

Matrix 6×12 for 6A sensors

Amb els sensors 6A150, 6A175, 6A225, 6A300 és possible utilitzar una matriu 6×12 en comptes d'una matriu 6x6 per a la compensació d'errors.

The 6×12 matrix offers the highest accuracy and the lowest crosswalk, and is recommended for sensors from 50kN force.

In this case, the sensors have a total of 12 measuring channels and two connectors. Each connector contains an electrically independent force-torque sensor with 6 sensor signals. Each of these connectors is connected to its own measuring amplificador BX8.

Instead of using a 6×12 matrix, the sensor can also be used exclusively with connector A, or exclusively with connector B, or with both connectors for redundant measurement. In this case, a 6×6 matrix is supplied for connector A and for connector B. The 6×6 matrix is supplied as a standard.

The synchronization of the measured data can be e.g. with the help of a synchronizationcable. For amplifiers with Ether Cat interface a synchronization via the BUS lines is possible.

Les forces Fx, Fy, Fz i els moments Mx, My, Mz es calculen al programari BlueDAQ. Allà els 12 canals d'entrada u1...u12 es multipliquen per la matriu 6×12 A per obtenir 6 canals de sortida del vector de càrrega L.

Els canals del connector “A” s'assignen als canals 1…6 al programari BlueDAQ.. Els canals del connector “B” s'assignen als canals 7…12 al programari BlueDAQ.
Després de carregar i activar la matriu 6×12 al programari BlueDAQ, les forces i moments es mostren als canals 1 a 6.

Channels 7…12 contain the raw data of connector B and are not relevant for further evaluation. These channels (with the designation “dummy7”) to “dummy12”) can be hidden from the display and the recording via the function “Channel”-> “Hide”.

When using the 6×12 matrix, the forces and moments are calculated exclusively by software, since it is composed of data from two separate measuring ampaixecadors.

Consell: When using the BlueDAQ software, the configuration and linking to the 6×12 matrix can be done by “Save Session”, and “Open Session” is pressed. so that the sensor and channel configuration only has to be carried out once.

Matriu de rigidesa

The stiffness matrix is defined by:

f =S∗u

With the load vector f: , the shifts vector u:.

The forces Fi have the unit N or kN
The moments M i have the unit kNm, or Nm or
Nmm The shiftsui have the unit m or mm
The angle i are expressed in radians

The stiffness matrix is symmetric: cij=c ji

Exampel d'una matriu de rigidesa 6A130 5kN/500Nm

Fx	Fy	Fz	Mx	My	Mz
0,0	0,0	0,0	0,0	0,0	343,4 kNm

When loaded with 5kN in x-direction, a shift of 5/93.8 mm = 0.053 mm in the x direction, and a twist of 5 kN/3750 kN = 0.00133 rad results about the y-axis.
When loaded with 15kN in z-direction, a shift of 15/387.9 mm = 0.039 mm in the z direction(and no twist).

With Mx =500 Nm a twisting of 0,5kNm/505,2kNm = 0.00099 rad results about the x-axis, and ashift from 0,5kNm/-3750 kN = -0,000133m = -0,133mm in the y-axis.

When loaded with Mz 500Nm a twisting results of 0,5kNm /343.4 kNm = 0.00146 rad about the z-axis (and no shift).

Calibration Matrix for 3AFM Sensors

The sensors of the type 3AFM allow the measurement of the force Fz and the moments Mxand My.

The sensors 3AFM may be used for displaying 3 orthogonal forces Fx, Fy, and Fz, when the measured torques are divided by the lever arm z (distance of force application Fx, Fy of theorigin of the coordinate system).

—	cap 1	cap 2	cap 3	cap 4
Fz in N / mV/V	100,00	100,00	100,00	100,00
Mx in Nm / mV/V	0,00	-1,30	0,00	1,30
My in Nm / mV/V	1,30	0,00	-1,30	0,00
H	0,00	0,00	0,00	0,00

The force in the z direction is calculated by multiplying and summing the matrixelements ofthe firstrow A1J with the lines of the vector of the output signals uj

Fz= 100N / m * Vu * 1 +100N/mV/Vu2+100 N/mV/Vu3+100 N/mVu4

ExampLI: on all 6 measurement channels is u 1=u2=u3=u4=1.00 m backslash /V displayed. Then aforce Fzresults of 400 Ν.

The calibration matrix A of 3AFM sensor has the dimensions 4 x. 4
El vector u dels senyals de sortida de la mesura amplifier has the dimensions 4x. 1 The result vector (Fz, Mx, My, H) has the dimension of 4x. 1 At the outputs of ch1, ch2 and ch3 after applying the calibration matrix, the force Fz and the moments Mxand My are displayed. On the Channel 4 output His constantly displayed OV bythe fourth line.

Posada en marxa del sensor

El programari BlueDAQ s'utilitza per mostrar les forces i moments mesurats. El programari BlueDAQ i els manuals relacionats es poden descarregar des de weblloc.

Pas	Descripció
1	Installation of the BlueDAQ software
2	Connecteu la mesura amplifier BX8 via USB port; Connect the sensor 6A to the measuring amplificador. Enceneu la mesura ampmés viu.
3	Copieu el directori amb la matriu de calibratge (llapis USB subministrat) a la unitat i el camí adequats.
4	Start BlueDAQ software
5	Main window: Button Add Channel;Select device type: BX8 Select interface: for example COM3Seleccioneu el canal 1 a 6 per obrir Button Connect
6	main window: Button Special Sensor Select six axis sensor
7	Finestra "Configuració del sensor de sis eixos: botó Afegeix sensor
8	a) Button Change Dir Select the directory with the files Serial number.dat and Serialnumber.matrix.b) Button Select Sensorand select Seial numberc) Button Auto Rename Channelsd) if necessary. Select the displacement of the force application point.e) Button OK Enable this Sensor
9	Seleccioneu la finestra Recorder Yt”, inicieu la mesura;

Posada en marxa del sensor 6×12

En posar en marxa el sensor 6×12, els canals 1 a 6 de la mesura ampEl limitador al connector "A" s'ha d'assignar als components 1 a 6.

Canals 7…12 de la mesura ampEl limitador del connector "B" s'assignen als components del 7 al 12.

When using the synchronization cable, the 25-pin SUB-D female connectors (male) on the back of the ampLifier estan connectats al cable de sincronització.

El cable de sincronització connecta els ports núm. 16 de la mesura amplifiers A and B with each other.

Per amplifier Un port 16 està configurat com a sortida per a la funció com a mestre, per ampel lifier Bport 16 està configurat com a entrada per a la funció com a esclau.

The settings can be found under “Device” Advanced Setting” -Dig-10.

Pista: The configuration of the data frequency must be done at the “Master” as well as at the “Slave”. The measuring frequency of the master should never be higher than the measuring frequency of the slave.

Captures de pantalla

Afegir un sensor de força / moment