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Home > Integration > Force Control Using FT300 on Denso
NickHu

Hi,

I've read https://dof.robotiq.com/discussion/95/denso-rc8-controller-with-an-ft300 and https://dof.robotiq.com/discussion/99/how-to-program-the-robotiq-ft-sensor-with-a-denso-rc8-controller, but they seem to describe how to acquire sensor readings during operation. However, I'm wondering if it's possible to use the sensor for force (compliance) control and how to integrate the sensor with the controller. For reveference, Denso has this guide for integrating with another kind of FT sensor http://densorobotics.com/content/user_manuals/19/005465.html

Separately, the file Robotiq_FS.pcs can't seem to be downloaded from the source. Is there any other way to get it?

Thank you


David_Levasseur

Hello @NickHu, I attached the compressed Robotiq_FS.pcs file. The DoF post you mentioned covers the integration part pretty well. As for your question about using the FT 300 in force control, I don't believe this is possible. But perhaps someone more knowledgeable than me on Denso will be able to provide some kind of assistance.
NickHu

Hi @David_Levasseur, thank you for your quick reply! I've downloaded zip file; thanks for that as well. If the FT sensor can't be used for force control, we may have to do it without the force sensor. Hopefully someone will be able to help make the sensor work with force control.. 
NickHu

Hi @David_Levasseur, thank you again for your quick answer. May I also ask how the wiring should be with the RS485/RS232 converter? 

In the documentation for FT300, https://assets.robotiq.com/production/support_documents/document/FT_Sensor_Instruction_Manual_PDF_20181012.pdf?_ga=2.52036576.87875532.1539888981-1773389015.1530282179, page 22, RS485 side says to connect 485+, 485-, and GND. I wonder if this means the black wire GND or the shield 485 GND (see page 20 of the same document). If it's the black wire GND, does that mean the red 24V can be left unconnected? Or perhaps it means the shield 485 GND, and the black GND and red 24V need to be connected to a separate power source like for the UR.

Sorry I couldn't find clear information online regarding FT300 and RS232. Thank you!
David_Levasseur

Hello @NickHu, The red (+) and black (-) wires are for the power source. The GND is the shield.
NickHu

Hi @David_Levasseur, Thank you! I'll use shield on the converter and use 24V/GND for power.