LabVIEW Data Acquisition Force Torque Sensor

[alexanderross]

Hello everyone,

i have a problem regarding data acquisition with an USB 6351 DAQ Card working together with a 6 axis force torque sensor from ATI Automation called "mini 40". The Sensor also uses a DAQ Card. 

In my programm I use a library from ATI to get the sensor data and convert it to Newton / Newtonmeters. Before evey acquisition i bias all the sensor axis. I use the Fx component of the sensor to controll a robot.

In the first iteration of the while loop inside the program "atidaqftmxNEU" I use the loop-counter to bias all values. This just happens in the first execution of the loop. For that I decreased the repetition of the while-loop to 2 Hz. 

The problem is that not every time the values get biases. Sometimes I start with a mean Value of 1,5 or 4,2 or higher for Fx (see mean Fx Indicator). I usually happens when I used the sensor before to measure some other data. If I use the program just for itself, it happens not that often. But sometimes.

Attached you can find the library in which I used the "atidaqftmxNEU" as my main program for this specific task. I made some changes within this program, the rest of the library VIs stayed the same. The "atidaqftmxNEU" collects the data and sends it to a robot depending how high the value of Fx is. If the pressure needed is reached it sends the robot the command to stop execution.

I hope I could describe my problem good enough that somebody can help me. Im grateful for every hint. 

Have a nice Weekend, Alex.

You can also find my main.vi attached that calls the atidaqftmxNEU programm and also the calibration data file for the sensor - maybe this helps.

[Tom_Powers]

I am not sure how much I can help but it would be useful to include specific module you are using and if you have the signal conditioning box.  I think that you are using the DAQ-FT module.  Maybe include a link to the correct manual.

[alexanderross]

Hi Tom_Powers,

thanks for your reply! Yes I use the DAQ-FT Module. The link to the Sensor is here and in this link you can also find the description for the DAQ FT Module. I also attached the file / description as a PDF. I am using the SI-80-4 Model if this helps.