This article will cover the steps needed to connect your XJC force/torque sensor to the end of a Fairino Cobot arm

Hardware required:

- 1 XJC force sensor

- 1 Fairino Cobot

- 1 computer with ethernet connection to Control box/button box OR 1 teach pendant

Steps to configure:

Step 1)

Navigate to your Fairino Web App by typing your robot's IP address into your computers URL or via the teach pendant

Step 2)

Select Initial -> Peripheral -> End-tool -> Adapted device

From here use the table below for your values in the drop downs (as shown in the figure below

Equipment type   |   Force Sensor Equipment

Manufacturer       |   XJC

Software version  |  1.0

Mount location    |   End point 1

Step 3)

Now, press configure -> active -> set zero

Sometimes, you will get an error message saying "Coordinate system of FT not set to tool"

To amend this, click on the FT icon at the bottom of the web app and select "tool" as the target coordinate system. Now, you should see your force values in the Force/Torque monitor tab on the right of the web app (shown in figure above)

To zero the force sensor, you can use the "zero correction" button in the "Adapted device" tab or use FT commands in your code. For more details on programmatic ways to control your force sensor, reference the documentation in the Fairino Documentation Page