six-axis force/torque sensor system section.pdf · 5.5.3 ctl calibration specifications ......

Engineered Products for Robotic ProductivityPinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: +1-919.772.0115 • Fax: +1-919.772.8259 • www.ati-ia.com • Email: [email protected]

F/T Transducer

Six-Axis Force/Torque Sensor System

Installation and Operation Manual

Document #: 9620-05-Transducer Section

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F/T Transducer Installation and Operation ManualDocument #9620-05-Transducer Section-21

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: [email protected] 2

ForewordInformation contained in this document is the property of ATI Industrial Automation, Inc. and shall not be reproduced in whole or in part without prior written approval of ATI Industrial Automation, Inc. The information herein is subject to change without notice and should not be construed as a commitment on ATI Industrial Automation, Inc. This manual is periodically revised to reflect and incorporate changes made to the F/T system.

ATI Industrial Automation, Inc. assumes no responsibility for any errors or omissions in this document. Users’ critical evaluation is welcome to assist in the preparation of future documentation (see the What Do You Think section at the end of this manual).

Copyright © by ATI Industrial Automation, Inc., Apex, North Carolina USA. All Rights Reserved. Published in the USA.

In consideration that ATI Industrial Automation, Inc. (ATI) products are intended for use with robotic and/or automated machines, ATI does not recommend the use of its products for applications wherein failure or malfunction of an ATI component or system threatens life or makes injury probable. Anyone who uses or incorporates ATI components within any potentially life threatening system must obtain ATI’s prior consent based upon assurance to ATI that a malfunction of ATI’s component does not pose direct or indirect threat of injury or death, and (even if such consent is given) shall indemnify ATI from any claim, loss, liability, and related expenses arising from any injury or death resulting from use of ATI components.

All trademarks belong to their respective owners. Windows is registered trademarks of Microsoft Corporation.

FCC Compliance - Class A

This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation.

CE Conformity

CTL TransducersThis device complies with EMC Directive 89/336/EEC and conforms to the following standards: EN50081-1:1992, EN50082-1:1992, CISPR 22:1993 (EN55022:1994), IEC 1000-4-2:1995, IEC 1000-4-3:1995, IEC 1000-4-4:1995DAQ TransducersThis device complies with EMC Directive 89/336/EEC and conforms to the following standards: EN55011:1998, ANSI C63.4:1992, EN61000-4-2:1995, EN61000-4-3:1995, EN61000-4-4:1995, EN61000-4-6:1995. Net F/T TransducersThis device complies with EMC Directive 2004/108/EC and conforms to the following standards: EN61326:1997+A1:1998+A2:2000,EN55022:1998_A1:2000+A2:2003, EN61000-4-2:1995+A1:1998+A2:2001, EN61000-4-3:2000, EN61000-4-4:2004, EN610000-4-5:1995+A1:1996, EN61000-4-6:1996+A1:2001, EN61000-4-8:1995, EN61000-4-11:2001.TWE TransducersThis device complies with EMC Directive 89/336/EEC and conforms to the following standards: EN50081-1:1992, EN50082-1:1992, CISPR 22:1993 (EN55022:1994), IEC 1000-4-2:1995, IEC 1000-4-3:1995, IEC 1000-4-4:1995

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NotePlease read the manual before calling customer service. Before calling, have the following information available:

1. Serial number (e.g., FT01234)

2. Transducer model (e.g., Nano17, Gamma, Theta, etc.)

3. Calibration (e.g., US-15-50, SI-65-6, etc.)

4. Accurate and complete description of the question or problem

5. Computer and software information. Operating system, PC type, drivers, application software, and other relevant information about your configuration.

If possible, be near the F/T system when calling.

How to Reach Us

Sale, Service and Information about ATI products:

ATI Industrial Automation 1031 Goodworth Drive Apex, NC 27539 USA www.ati-ia.com Tel: +1.919.772.0115 Fax: +1.919.772.8259 E-mail: [email protected]

Technical support and questions:Application Engineering Tel: +1.919.772.0115, Option 2, Option 2 Fax: +1.919.772.8259 E-mail: [email protected]

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Table of ContentsForeword .......................................................................................................................................... 2Glossary ......................................................................................................................................... 12

1.1 ExplanationofNotifications ....................................................................................................... 14

1.2 General Safety Guidelines .......................................................................................................... 14

1.3 Safety Precautions ...................................................................................................................... 14

1. Product Overview ................................................................................................................... 152. Installing the Transducer ....................................................................................................... 16

2.1 Transducer Environment ............................................................................................................ 16

2.2 Mounting the Transducer ........................................................................................................... 162.2.1 Interface Plate Design ...................................................................................................... 16

2.2.2 Mounting the Transducer with a Removable Mounting Adapter Plate .............................. 18

2.2.3 Mounting the Transducer with a Non-removable Adapter Plate ....................................... 20

2.3 Routing the Transducer Cable ................................................................................................... 21

3. Topics ...................................................................................................................................... 233.1 Accuracy over Temperature ....................................................................................................... 23

3.2 Tool Transformation Effects ....................................................................................................... 23

3.3 Environmental ............................................................................................................................. 24

3.4 Mux Transducer Input Filter Frequency Response ................................................................. 25

3.5 Transducer Strain Gage Saturation ........................................................................................... 25

4. TransducerSpecifications ..................................................................................................... 264.1 Notes ............................................................................................................................................ 26

4.1.1 AboutCTLCalibrationSpecifications ............................................................................... 26

4.1.2 Complex Loading Graph Description ............................................................................... 26

4.2 Nano17 Titanium ......................................................................................................................... 274.2.1 Nano17 Titanium Physical Properties .............................................................................. 27

4.2.2 CalibrationSpecifications(excludesCTLcalibrations) .................................................... 27

4.2.3 CTLCalibrationSpecifications ......................................................................................... 28

4.2.4 Analog Output .................................................................................................................. 28

4.2.5 Counts Value .................................................................................................................... 28

4.2.6 Nano17Titanium(USCalibrationComplexLoading) ....................................................... 29

4.2.7 Nano17Titanium(SICalibrationComplexLoading) ........................................................ 30

4.2.8 Nano17 Titanium Transducer Drawing ............................................................................. 31

4.3 Nano17Specifications(IncludesIP65/IP68Versions) ............................................................. 324.3.1 Nano17 Physical Properties ............................................................................................. 32

4.3.2 Nano17 IP65/IP68 Physical Properties ............................................................................ 32







4.3.5 Analog Output .................................................................................................................. 34

4.3.6 Counts Value .................................................................................................................... 34

4.3.7 Nano17(USCalibrationComplexLoading)(IncludesIP65/IP68) ..................................... 35

4.3.8 Nano17(SICalibrationComplexLoading)(IncludesIP65/IP68) ...................................... 36

4.3.9 Nano17-E Transducer Drawing ........................................................................................ 37

4.3.10 Nano17 IP65/IP68 Transducer with Axial Cable Exit Drawing ......................................... 38

4.3.11 Legacy Nano17 Transducer Drawing ............................................................................... 39

4.4 Nano25Specifications(IncludesIP65/IP68Versions) ............................................................. 404.4.1 Nano25 Physical Properties ............................................................................................. 40

4.4.2 Nano25 IP65/IP68 Physical Properties ............................................................................ 40



4.4.5 Analog Output .................................................................................................................. 42

4.4.6 Counts Value .................................................................................................................... 42

4.4.7 Nano25(USCalibrationComplexLoading)(IncludesIP65/IP68) ..................................... 43

4.4.8 Nano25(SICalibrationComplexLoading)(IncludesIP65/IP68) ...................................... 44

4.4.9 Nano25-E Transducer Drawing ........................................................................................ 45

4.4.10 Nano25 IP65/IP68 Transducer with Axial Cable Exit Drawing ......................................... 46

4.4.11 Nano25 IP65/IP68 Transducer with Radial Cable Exit Drawing ....................................... 47

4.4.12 Legacy Nano25 Transducer Drawing ............................................................................... 48

4.5 Nano43Specifications ................................................................................................................ 494.5.1 Nano43 Physical Properties ............................................................................................. 49



4.5.4 Analog Output .................................................................................................................. 50

4.5.5 Counts Value .................................................................................................................... 50

4.5.6 Nano43(USCalibrationComplexLoading) ..................................................................... 51

4.5.7 Nano43(SICalibrationComplexLoading) ....................................................................... 52

4.5.8 Nano43 Transducer Drawing ............................................................................................ 53

4.6 Mini27TitaniumSpecifications .................................................................................................. 544.6.1 Mini27 Titanium Physical Properties ................................................................................ 54



4.6.4 Analog Output .................................................................................................................. 55

4.6.5 Counts Value .................................................................................................................... 55

4.6.6 Mini27Titanium(USCalibrationComplexLoading) ......................................................... 56

4.6.7 Mini27Titanium(SICalibrationComplexLoading) .......................................................... 57

4.6.8 Mini27 Titanium Transducer Drawing ............................................................................... 58





4.7 Mini40Specifications(IncludesIP65/IP68Versions) ............................................................... 594.7.1 Mini40 Physical Properties ............................................................................................... 59

4.7.2 Mini40 IP65/IP68 Physical Properties .............................................................................. 59



4.7.5 Analog Output .................................................................................................................. 61

4.7.6 Counts Value .................................................................................................................... 61

4.7.7 Mini40(USCalibrationComplexLoading)(IncludesIP65/IP68) ....................................... 62

4.7.8 Mini40(SICalibrationComplexLoading)(IncludesIP65/IP68) ........................................ 63

4.7.9 Mini40-E Transducer Drawing .......................................................................................... 64

4.7.10 Legacy Mini40 Transducer Drawing ................................................................................. 65

4.7.11 Mini40 IP65/IP68 Transducer Drawing ............................................................................. 66

4.8 Mini45TitaniumSpecifications .................................................................................................. 674.8.1 Mini45 Titanium Physical Properties ................................................................................ 67



4.8.4 Analog Output .................................................................................................................. 68

4.8.5 Counts Value .................................................................................................................... 68

4.8.6 Mini45Titanium(USCalibrationComplexLoading) ......................................................... 69

4.8.7 Mini45Titanium(SICalibrationComplexLoading) .......................................................... 70

4.8.8 Mini45 Titanium Axial Exit Transducer Drawing ............................................................... 71

4.8.9 Mini45 Titanium Right Angle E-Exit Transducer Drawing ................................................. 72

4.9 Mini45Specifications(IncludesIP65/IP68Versions) ............................................................... 734.9.1 Mini45 Physical Properties ............................................................................................... 73




4.9.5 Analog Output .................................................................................................................. 75

4.9.6 Counts Value .................................................................................................................... 75

4.9.7 Mini45(USCalibrationComplexLoading)(IncludesIP65/IP68) ....................................... 76

4.9.8 Mini45(SICalibrationComplexLoading)(IncludesIP65/IP68) ........................................ 77


4.9.10 Mini45-ERA Transducer Drawing ..................................................................................... 79

4.9.11 Mini45-AE Transducer Drawing ........................................................................................ 80


4.9.13 Legacy Mini45 Transducer Drawing ................................................................................. 82

4.10 Mini58Specifications(IncludesIP60/IP65/IP68Versions) ....................................................... 834.10.1 Mini58 Physical Properties ............................................................................................... 83





4.10.2 Mini58 IP60 Physical Properties ....................................................................................... 83




4.10.6 Analog Output .................................................................................................................. 86

4.10.7 Counts Value .................................................................................................................... 86

4.10.8 Tool Transform Factor ...................................................................................................... 86

4.10.9 Mini58(USCalibrationComplexLoading)(IncludesIP60/IP65/IP68) .............................. 87

4.10.10Mini58(SICalibrationComplexLoading)(IncludesIP60/IP65/IP68) ................................ 88

4.10.11 Mini58 Transducer Drawing .............................................................................................. 89

4.10.12 Mini58 IP60 Transducer Drawing ..................................................................................... 90


4.11 Mini85Specifications(IncludesIP60Versions) ....................................................................... 924.11.1 Mini85 Physical Properties ............................................................................................... 92



4.11.4 Analog Output .................................................................................................................. 93

4.11.5 Counts Value .................................................................................................................... 93

4.11.6 Tool Transform Factor ...................................................................................................... 94

4.11.7 Mini85(USCalibrationComplexLoading)(IncludesIP60) ............................................... 95

4.11.8 Mini85(SICalibrationComplexLoading)(IncludesIP60) ................................................. 96

4.11.9 Mini85 Transducer Drawing .............................................................................................. 97


4.11.11 Mini85 IP60 Transducer with 20mm Through-Hole Drawing ............................................ 99

4.12 GammaSpecifications(IncludesIP60/IP65/IP68Versions) ................................................... 1004.12.1 Gamma Physical Properties ........................................................................................... 100

4.12.2 Gamma IP60 Physical Properties .................................................................................. 100



4.12.5 CalibrationSpecifications(excludesCTLcalibrations) .................................................. 102

4.12.6 CTLCalibrationSpecifications ....................................................................................... 103

4.12.7 Analog Output ................................................................................................................ 103

4.12.8 Counts Value .................................................................................................................. 104

4.12.9 Tool Transform Factor .................................................................................................... 104

4.12.10Gamma(USCalibrationComplexLoading)(IncludesIP60/IP65/IP68) .......................... 105

4.12.11Gamma(SICalibrationComplexLoading)(IncludesIP60/IP65/IP68) ............................ 106

4.12.12 Gamma DAQ/Net Transducer Drawing .......................................................................... 107

4.12.13 9105-T-Gamma Transducer without Mounting Adapter Drawing ................................... 108

4.12.14 Gamma Mounting Adapter Plate Drawing ...................................................................... 109





4.12.15 Gamma IP60 Transducer Drawing ................................................................................. 110

4.12.16 Gamma IP65 Transducer Drawing ..................................................................................111

4.12.17 ECAT Gamma IP65 Transducer Drawing ....................................................................... 112

4.12.18 Gamma IP68 Transducer Drawing ................................................................................. 114

4.13 DeltaSpecifications(IncludesIP60/IP65/IP68Versions) ....................................................... 1154.13.1 Delta Physical Properties ............................................................................................... 115

4.13.2 Delta IP60 Physical Properties ....................................................................................... 115





4.13.7 Analog Output ................................................................................................................ 118

4.13.8 Counts Value .................................................................................................................. 118

4.13.9 Delta(USCalibrationComplexLoading)(IncludesIP60/IP65/IP68) .............................. 119

4.13.10Delta(SICalibrationComplexLoading)(IncludesIP60/IP65/IP68) ................................ 120

4.13.11 Delta DAQ/Net Transducer Drawing .............................................................................. 121

4.13.12 9105-T-Delta Transducer without Mounting Adapter Drawing ........................................ 122

4.13.13 Delta Mounting Adapter Drawing .................................................................................... 123

4.13.14 Delta IP60 Transducer Drawing ..................................................................................... 124

4.13.15 ECAT Delta IP60 Transducer Drawing ........................................................................... 125


4.13.17 ECAT Delta IP65 Transducer Drawing ........................................................................... 128


4.14 ThetaSpecifications(IncludesIP60/IP65/IP68Versions) ...................................................... 1314.14.1 Theta Physical Properties .............................................................................................. 131

4.14.2 Theta IP60 Physical Properties ...................................................................................... 131

4.14.3 Theta IP65/IP68 Physical Properties .............................................................................. 132



4.14.6 Analog Output ................................................................................................................ 134

4.14.7 Counts Value .................................................................................................................. 134


4.14.9 Theta(USCalibrationComplexLoading)(IncludesIP60/IP65/IP68) .............................. 135

4.14.10Theta(SICalibrationComplexLoading)(IncludesIP60/IP65/IP68) ............................... 136

4.14.11 Theta DAQ/Net Transducer Drawing .............................................................................. 137

4.14.12 9105-T-Theta Transducer without Mounting Adapter Drawing ....................................... 138

4.14.13 Theta Mounting Adapter Plate Drawing .......................................................................... 139

4.14.14 Theta IP60 Transducer Drawing ..................................................................................... 140







4.15 Omega85Specifications(IncludesIP60/IP65/IP68Versions) ................................................ 1434.15.1 Omega85 Physical Properties ........................................................................................ 143

4.15.2 Omega85 IP65/IP68 Physical Properties ....................................................................... 143


4.15.4 Omega85(USCalibrationComplexLoading)(IncludesIP65/IP68) ............................... 145

4.15.5 Omega85(SICalibrationComplexLoading)(IncludesIP65/IP68) ................................. 146

4.15.6 Omega85 Transducer Drawing ...................................................................................... 147

4.15.7 Omega85 IP65 Transducer Drawing .............................................................................. 148

4.15.8 Omega85 IP68 Transducer Drawing .............................................................................. 149

4.16 Omega160Specifications(IncludesIP60/IP65/IP68Versions) .............................................. 1504.16.1 Omega160 Physical Properties ...................................................................................... 150

4.16.2 Omega160IP160PhysicalProperties(IncludesECAT) ................................................ 150

4.16.3 Omega160 IP65/IP68 Physical Properties ..................................................................... 151



4.16.6 Analog Output ................................................................................................................ 153

4.16.7 Counts Value .................................................................................................................. 153


4.16.9 Omega160(USCalibrationComplexLoading) (IncludesIP60/IP65/IP68) .............................................................................................. 154

4.16.10Omega160(SICalibrationComplexLoading) (IncludesIP60/IP65/IP68) .............................................................................................. 155

4.16.11 Omega160 Transducer without Mounting Adapter Drawing ........................................... 156

4.16.12 Omega160 Transducer with 53mm Through Hole ......................................................... 157

4.16.13 Omega160 Transducer with Mounting Adapter Drawing ................................................ 158

4.16.14 Omega160 IP60 Transducer Drawing ............................................................................ 159

4.16.15 ECAT Omega160 IP60 Transducer Drawing .................................................................. 160




4.17.2 Omega190 IP60 Physical Properties ............................................................................. 164




4.17.6 Analog Output ................................................................................................................ 167

4.17.7 Counts Value .................................................................................................................. 167






4.17.9 Omega190(SICalibrationComplexLoading) (IncludesIP60/IP65/IP68) .............................................................................................. 169

4.17.10 Omega190 DAQ/Net Transducer Drawing ..................................................................... 170





4.18.2 Omega191 IP60 Physical Properties ............................................................................. 174




4.18.6 Analog Output ................................................................................................................ 177

4.18.7 Counts Value .................................................................................................................. 177



4.18.10 Omega191 DAQ/Net Transducer Drawing ..................................................................... 180




4.19 Omega250Specifications(IncludesIP60/IP65/IP68) .............................................................. 1844.19.1 Omega250PhysicalProperties(IncludesIP60/IP65/IP68) ............................................ 184



4.19.4 Analog Output ................................................................................................................ 186

4.19.5 Counts Value .................................................................................................................. 186






4.20 Omega331Specifications(IncludesIP65) .............................................................................. 1924.20.1 Omega331PhysicalProperties(IncludesIP65) ............................................................. 192



4.20.4 Analog Output ................................................................................................................ 194





4.20.5 Counts Value .................................................................................................................. 194

4.20.6 Omega331(USCalibrationComplexLoading)(IncludesIP65) ..................................... 195

4.20.7 Omega331(SICalibrationComplexLoading)(IncludesIP65) ...................................... 196

4.20.8 Omega331 Transducer Drawing .................................................................................... 197


5. Advanced Topics .................................................................................................................. 1995.1 Reducing Noise ......................................................................................................................... 199

5.1.1 Mechanical Vibration ...................................................................................................... 199

5.1.2 Electrical Interference ..................................................................................................... 199

5.2 DetectingFailures(Diagnostics) ............................................................................................. 1995.2.1 Detecting Sensitivity Changes ........................................................................................ 199

5.3 Scheduled Maintenance ........................................................................................................... 1995.3.1 Periodic Inspection ......................................................................................................... 199

5.3.2 Periodic Calibration ........................................................................................................ 200

5.4 Transducer Cabling ................................................................................................................... 2005.4.1 Calibrations .................................................................................................................... 200

5.4.2 Cabling and Connectors ................................................................................................. 200

5.5 Resolution .................................................................................................................................. 200

6. Terms and Conditions of Sale ............................................................................................. 201





GlossaryTerm DefinitionAccuracy SeeMeasurementUncertainty.ActiveX Component A reusable software component for the Windows applications.

Calibration The act of measuring a transducer’s raw response to loads and creating data used in converting the response to forces and torques.

CalibrationCertificateA statement that says the equipment measures correctly. These statements usually mean the equipment has been tested against national standards. The statements are produced as a result of calibration or re-calibration.

Compound Loading Any load that is not purely in one axis. Coordinate Frame See Point of Origin DAQ Data Acquisition device.

DAQ F/T An F/T Sensor System that uses industry standard data acquisition fasteners (usuallycomputercards)toconvertthetransducersignalsintodigitaldata.

DoF Degrees of Freedom. See Six Degrees of Freedom. Force The push or pull exerted on an object. FS Full-Scale F/T Force and Torque. F/T Controller The electronics that connect to mux transducers. Fxy The resultant force vector comprised of components Fx and Fy.

Full-Scale Error

A measurement of sensing error. For example, if the calibrated measurement range of a sensor is 100 Newtons and the sensor is accurate to within 1 Newton,thatsensorwillhaveaFull-ScaleErrorof1%(1%=0.01=1N/100N).

HTC

Fasteners Temperature Compensation. This is a method of improving thetemperatureperformanceoftransducers.Usuallythisreferstospantemperature compensation. Sometimes it also includes offset temperature compensation. HTC is better than STC.

Hysteresis A source of measurement error caused by the residual effects of previously applied loads.

IP60 Ingress Protection Rating “60” designates protection against dust IP65 Ingress Protection Rating “65” designates protection against water spray

IP68 Ingress Protection Rating “68” designates submergibility in fresh water, in this case, to a depth of 10 meters

LabVIEW A graphical programming environment created for data acquisition tasks by National Instruments.

Max. Single-Axis Overload Thelargestamountofloadinasingleaxis(allotheraxesareunloaded)thatthe transducer can withstand without damage.

MAP MountingAdapterPlate.Thetransducer’sMAPattachestothefixedsurfaceor robot arm.

MeasurementUncertainty Themaximumexpectederrorinmeasurements,asspecifiedonthecalibrationcertificate.

Moment When something receives a torque, we say a moment is applied to it.

Mux Short for multiplexer. F/T Controller Sensor Systems use mux electronics to interface to the transducer signals.





Term Definition

Mux Box A box that holds mux electronics for transducers that are too small for on-board electronics.

Net F/T An F/T Sensor System that connects to the customer’s monitoring equipment via Ethernet or CAN bus or DeviceNet.

NINational Instruments Corporation, the owner of the National Instruments and LabVIEWtrademarks.(www.ni.com)MakerofDataAcquisitionCardsusedbyATI in force sensors.

Offset Compensation Correction of errors that change the zero point of a transducer’s readings.

Overload The condition where more load is applied to the transducer than it can measure. This will result in saturation.

Point of Origin The point on the transducer from which all forces and torques are measured.

QuantizationThe way the continuously variable transducer signal is converted into discreet digitalvalues.Usuallyusedwhendescribingthechangefromonedigitalvalueto the next.

Reaction TorqueTorque applied that does not result in movement. Think of the twisting you attempt to put on a screw or bolt when it does not move. Our transducers sense reaction torque.

Re-calibrationTheperiodicverificationofmeasurementequipment,liketransducers,calipersand voltmeters, to prove it still measures correctly. The equipment may be adjusted if it doesn’t measure correctly.

Resolution The smallest change in load that can be measured. This is usually much smaller than accuracy.

Rotary Torque Torque resulting in something moving. Generally this refers to the torque on things like drive shafts. Our transducers cannot sense rotational torque.

Saturation The condition where the transducer or data acquisition fasteners has a load or signal outside of its sensing range.

Sensor System The entire assembly consisting of parts from transducer to data acquisition card.

Six-axis Force/Torque Sensor

A device that measures the outputting forces and torques from all three Cartesiancoordinates(x,yandz).Asix-axisforce/torquetransducerisalsoknown as a multi-axis force/torque transducer, multi-axis load cell, F/T sensor, or six-axis load cell.

Six Degrees of Freedom Fx, Fy, Fz, Tx, Ty and Tz. Span Compensation Correction of errors that affect the sensitivity of a transducer.

STC Software Temperature Compensation. A method of improving temperature performance of transducers. This method is not as good as HTC.

TAP Tool Adapter Plate. The TAP part of the transducer is attached to the load that is to be measured.

Tool Transformation Mathematically changing the measurement coordinate system by translating the origin and/or rotating the axes.

Torque The measurement of force exerted on an object causing it to rotate.Transducer The component that converts the sensed load into electrical signals. Txy The resultant torque vector comprised of components Tx and Ty.

Visual Basic A Microsoft programming environment for developing Windows-based applications.





SafetyThe safety section describes general safety guidelines to be followed with this product, explanation of the notification found in this manual, and safety precaution that apply to the product. More specific notification are imbedded within the sections of the manual where they apply.

1.1 ExplanationofNotificationsThe notifications included here are specific to the product(s) covered by this manual. It is expected that the user heed all notifications from the robot manufacturer and/or the manufacturers of other components used in the installation.

DANGER:Notificationofinformationorinstructionsthatifnotfollowedwillresultindeathorseriousinjury.Thenotificationprovidesinformationaboutthenatureofthehazardous situation, the consequences of not avoiding the hazard, and the method for avoiding the situation.

WARNING:Notificationofinformationorinstructionsthatifnotfollowedcouldresultindeathorseriousinjury.Thenotificationprovidesinformationaboutthenatureofthehazardous situation, the consequences of not avoiding the hazard, and the method for avoiding the situation.

CAUTION:Notificationofinformationorinstructionsthatifnotfollowedcouldresultinmoderateinjuryorwillcausedamagetoequipment.Thenotificationprovidesinformation about the nature of the hazardous situation, the consequences of not avoiding the hazard, and the method for avoiding the situation.

NOTICE:Notificationofspecificinformationorinstructionsaboutmaintaining,operating,installation, or setup of the product that if not followed could result in damage to equipment. The notificationcanemphasizebutisnotlimitedtospecificgreasetypes,goodoperatingpractices,or maintenance tips.

1.2 General Safety GuidelinesThe customer should verify that the transducer selected is rated for maximum loads and moments expected during operation. Refer to transducer specifications in Section 5—Transducer Specifications of this manual or contact ATI for assistance. Particular attention should be paid to dynamic loads caused by robot acceleration and deceleration. These forces can be many times the value of static forces in high acceleration or deceleration situations.

1.3 Safety PrecautionsCAUTION: Do not remove any fasteners or disassemble transducers without a removable mounting adapter plate. These include Nano, Mini, IP-rated, and some Omega transducers. This will cause irreparable damage to the transducer and void the warranty. Leave all fasteners in place and do not disassemble the transducer.

CAUTION: Do not probe any openings in the transducer. This will damage the instrumentation.

CAUTION: Do not exert excessive force on the transducer. The transducer is a sensitive instrument and can be damaged by applying force exceeding the single-axis overload values of the transducer and cause irreparable damage. Small Nano and Mini transducers can easily be overloaded during installation. Refer to the F/T Transducer manual(9620-05-TransducerSection)forspecifictransduceroverloadvalues.





1. Product OverviewA transducer is a device that measures the outputting forces and torques from all three Cartesian coordinates (x, y, and z). A six-axis force/torque transducer is also known as a multi-axis force/torque transducer, multi-axis load cell, F/T sensor, or six-axis load cell.

The ATI Multi-Axis Force/Torque Sensor system measures all six components of force and torque. The system consists of a transducer, shielded high-flex cable, and intelligent data acquisition system (Ethernet/DeviceNet interface or F/T controller). Force/Torque sensors are used throughout industry for product testing, robotic assembly, grinding, and polishing. In research, our sensors are used in robotic surgery, haptics, rehabilitation, neurology, and many others applications.





2. Installing the TransducerThis section will provide information on the environment, transducer IP rating, mounting the transducer, and routing the transducer cable.

2.1 Transducer EnvironmentTo ensure proper operation, the IP rating of the transducer must match or exceed the transducer’s environment. Unless otherwise specified, a transducer has no special IP protection. In this case, the transducer may be used only in benign environments with no dust, debris, liquids, or sprays. Refer to Section 4.1—Accuracy over Temperature for information on the transducer’s temperature performance.

CAUTION: Damage to the outer jacketing of the transducer cable could enable moisture or water to enter an otherwise sealed transducer. Ensure the cable jacketing is in good condition to prevent transducer damage.

NOTICE:Transducersmayreacttoexceptionallystrongandchangingelectromagneticfields,suchasthoseproducedbymagneticresonanceimaging(MRI)machines.

NOTICE: Transducers without an IP protection may exhibit a small offset in readings when exposed to strong light.

2.2 Mounting the TransducerThere are two different mounting methods for transducers. The first method has a fixed bolt pattern on the tool side of the transducer and a removable adapter plate on the mounting (robot or other device) side. The adapter plate needs to be removed from the transducer and machined with the mounting bolt pattern to match the robot or other device. If your device covers the mounting fasteners used to connect the transducer, you will not be able to use the removable adapter plate alone. If this is the case a user designed interface plate will be needed between the transducer and the robot or other device. Refer to Section 3.2.1—Interface Plate Design for more details.. Refer to Section 3.2.2—Mounting the Transducer with a Removable Mounting Adapter Plate.The second method is for transducers with non-removable adapter plates with fixed bolt patterns on both the tool and mounting sides of the transducer (Nano, Mini, IP-rated and some Omega transducers). This type may require a user designed interface plate to attach the transducer to the robot or other device. Refer to Section 3.2.1—Interface Plate Design for more details. Refer to Section 3.2.3—Mounting the Transducer with a Non-removable Adapter Plate.

CAUTION: Do not remove any fasteners or disassemble transducers without a removable adapter plate, these include Nano, Mini, IP-rated, and some Omega transducers. This will cause irreparable damage to the transducer and void the warranty. Leave all fasteners in place and do not disassemble the transducer.

Refer to the product drawings in Section 5—Transducer Specifications to determine if the adapter plate is removable for our transducer. Mount the transducer to a structure with sufficient mechanical strength. Not doing so can lead to sub-optimum performance.

2.2.1 Interface Plate DesignInterface plates may be required between the robot or other device and the transducer and between the transducer and the tooling. If the robot, other device, or tooling covers the mounting fasteners for the transducer an interface plate will be required. Custom interface plates are available from ATI upon request.There are two types of mounting adapter plate (robot side). Small transducers such as Nano, Mini, IP-rated and some Omega transducers the mounting adapter plate is factory installed and should not be removed or machined. The mounting interface plate will have to be machined with the corresponding bolt pattern and dowel locations, refer to the drawings in Section 5—Transducer Specifications.





Larger transducers have a removable mounting adapter plates, refer to Section 3.2.2—Mounting the Transducer with a Removable Mounting Adapter Plate for more information. Machine the mounting interface plate to match the bolt pattern and dowel hole in the removable mounting adapter plate.The transducer tooling adapter plate is factory installed and the bolt circle is shown with the transducer in Section 5—Transducer Specifications. Most large F/T tool adapters follow the ISO 9409-1 mounting pattern. Machine the tooling interface plate to attach to this bolt circle.

NOTICE: The tool may not contact any other part of the transducer except the tool mounting surface. If the tool contacts any other part of the transducer it will not properly sense loads. Make sure the tool mounts to the tool mounting surface and does not contact any other part of the transducer.

If the customer chooses to design and build an mounting or tooling interface plate, the following should be considered:• The interface plate should be designed to include bolt holes for mounting, dowel pins, and

a boss for accurate positioning on the robot or other devices and to the adapter plate. These locating features should orient the X and Y axis of the Transducer to the X and Y axis of the robot.

• The thickness of the interface plate must be great enough to provide the necessary thread engagement for the mounting fasteners.

• Mounting fasteners must not be too long. They should not extend through the adapter plate to avoid interference with the electronics inside the transducer. Refer to Section 5—Transducer Specifications for thread depth, mounting patterns, and other details.

• The interface plate must be properly designed to provide rigid mounting for the transducer. The interface plate should not distort under maximum sensor range of the transducer. Refer to Section 5—Transducer Specifications for specifications.

• The interface plate design must provide a flat and parallel mounting surface for the transducer. Refer to Figure 3.1.

Figure 2.1—InterfacePlateDesignSpecification

Robot or Other Device

Locating Boss

Customer Designed Mounting Interface Plate

Customer Supplied FastenersDo not extend through Mounting Adapter Plate

TransducerTransducer Mounting

Adapter Plate

Locating Dowel Pin

Transducer Tooling Adapter Plate

Customer Supplied FastenersDo not extend through Tooling Adapter Plate

Customer Designed Tooling Interface Plate

Locating Boss

Locating Boss

Locating Dowel Pin

Tooling

.002

.002 A

.002 A

.002

A

A





2.2.2 Mounting the Transducer with a Removable Mounting Adapter PlateCheck to see if when mounting the transducer to the robot or other device you will have access to the mounting screws for attaching the transducer. If not, a user designed interface plate will be needed on one or both sides of the transducer, refer to Section 3.2.1—Interface Plate Design for details in designing an interface plate before continuing with this procedure.

1. Remove the power to the transducer.2. Remove all mounting fasteners from the mounting adapter plate and set aside.

CAUTION: Do not touch internal electronics or instrumentation. This could damage the transducer and void the warranty. When the adapter plate is removed protect the exposed electronics from dust, debris, liquids, and other foreign objects.

3. Remove the adapter plate from the transducer. Machine the mounting bolt pattern from the robot, interface plate, or other device into the removable adapter plate. Make sure the bolt pattern and dowel hole orient the X and Y axis of the transducer with the X and Y axis of the robot.

NOTICE: Customers machining their own interface patterns should avoid concentrating all mounting features in the center of the adapter plate. A larger bolt circle will provide the most accurate readings as it will induce less bending in the plate.

CAUTION: Mounting fasteners should not extend into the transducer beyond the adapter plate surface. This could cause damage to the internal electronics. When machining the removable adapter plate, make sure the heads of the fastenersareflushorbelowthesurfaceoftheadapterplate.

Figure 2.2—Removable Adapter Plate

Remove Mounting AdapterPlate from Transducer

CAUTION: Do not touch internal electronics or instrumentation. This could damage the transducer and void the warranty.

Protect exposed electronics from dust, debris and liquids

Remove adapter

Machine mounting bolt pattern and locating dowel hole into mounting adapter plate. Orient

the bolt pattern and dowel hole to align the X and Y axis of the transducer with the X and Y

axis of the robot, tooling, or application orientation as desired.

User supplied mounting screws must be flush or below the surface of the mounting

adapter plate to ensure proper clearance for the electronics inside the transducer.

Machine mounting bolt pattern concentric to mountingadapter plate to maintain transducer's point-of-origin.

plate fasteners

4. Mount removable adapter plate to the robot, other device, or interface plate using customer supplied fasteners. If fasteners do not have pre-applied adhesive, apply Loctite 222® to the fasteners.

NOTICE: Make sure the adapter plate orients the transducer so that the connector is at the appropriate location to route the cabling properly. Refer to Section 3.3—Routing the Transducer Cable.

5. Attach the transducer to the removable adapter plate, hand tighten fasteners.





6. Connect power to the transducer and wait until demo application displays load data when applying force on the transducer.

CAUTION: Do not exceed the transducer’s overload ratings. Smaller transducers can easily be irreparably damaged by applying small loads using tools(momentarmincreasesappliedloads)whenmountingthetransducer.Always monitor the transducer using the demo application for gage saturation errors during installation. Stop applying force to the transducer and wait until the error clears to continue installation. If error does not clear, it may indicate loss of power or the overload value has been exceeded.

7. Monitor the demo application for gage saturation errors during installation. If an error is displayed stop applying the force to the transducer and wait until the error clears before continuing installation.

8. Tighten the fasteners mounting the transducer to the removable adapter plate.

Figure 2.3—Installing Transducers with Removable Mounting Adapter Plates

Adapter Plate FastenersRemovable Adapter Plate

Mounting Fasteners (Supplied by customer)

Mounting Fasteners (supplied by customer)

Customer Tooling

Computer Running Demo Application

Robot or other Device

Transducer with removable adapter plate

If Required Custom Tooling Interface Plate(supplied by customer)

Mounting Fasteners(supplied by customer)


If Required Custom Mounting Interface Plate(supplied by customer)

CAUTION: Do not use fasteners that will exceed the customer interface depthspecifiedforthetransducer.Usinglongerfastenerswillpenetratethebody of the transducer and damage the electronics, voiding the warranty. Usefastenersthatprovidethecustomerinterfacedepthspecifiedforthetransducer. Refer to the transducer drawing.

NOTICE: The tool may not contact any other part of the transducer except the tool mounting surface. If the tool contacts any other part of the transducer it will not properly sense loads. Make sure the tool mounts to the tool mounting surface and does not contact any other part of the transducer.


10. Attach the customer tooling or tooling interface plate to the transducer with customer supplied fasteners, the transducer provides a mounting pattern on the tool side of the transducer. If fasteners do not have pre-applied adhesive, apply Loctite 222 to the fasteners.





2.2.3 Mounting the Transducer with a Non-removable Adapter Plate

CAUTION: Do not attempt to drill, tap, machine, or otherwise modify or disassemble the transducer. This could damage the transducer and will void thewarranty.Usethemountingboltpatternprovidedtoattachthetransducerto the robot or other device and to mount the tool to the transducer. See the transducer drawings for details.

CAUTION: Do not use fasteners that will exceed the customer interface depthspecifiedonforthetransducer.Usinglongerfastenerswillpenetratethe body of the transducer and damage the electronics, voiding the warranty. Usefastenersthatprovidethecustomerinterfacedepthspecifiedforthetransducer. Refer to the transducer drawing.

CAUTION: Do not exceed the single-axis overload value of the transducer. Smaller transducers can easily be irreparably damaged by applying small loadsusingtools(momentarmincreasesappliedloads)whenmountingthetransducer. Always monitor the transducer using the demo application for gage saturation errors during installation. Stop applying force to the transducer and wait until the error clears to continue installation. If error does not clear, it may indicate loss of power or the overload value has been exceeded.


2. Mount transducer to user-designed interface plate, directly to the robot, or other device with customer supplied fasteners. If fasteners do not have pre-applied adhesive, apply Loctite 222 to the fasteners.

Figure 2.4—InstallingTransducerswithNon-removableAdapterPlates(NetF/TSystemShown)

Mounting Fasteners (Supplied by customer)

Mounting Fasteners (supplied by customer)

Customer Tooling

Computer Running Demo Application

Robot or other Device

Transducer

If Required Custom Tooling Interface Plate(supplied by customer)


If Required Custom Mounting Interface Plate(supplied by customer)

NOTICE: The tool may not touch any other part of the transducer except the tool mounting surface. If the tool touches any other part of the transducer it will not properly sense loads. Make sure the tool mounts to the tool mounting surface and does not touch any other part of the transducer.


4. Attach the customer tooling or tooling interface plate to the transducer with customer supplied fasteners, the transducer provides a mounting pattern on the tool side of the transducer. If fasteners do not have pre-applied adhesive, apply Loctite 222 to the fasteners.





2.3 Routing the Transducer CableThe transducer can be used in a variety of applications that will affect how best to route the cable and determine the proper bending radius to use. Some applications will allow the transducer and the cable to remain in a static condition. Some applications require the transducer to be in a dynamic condition that requires the cable to be subjected to repetitive motion. It is important not to expose the transducer cable connectors to this repetitive motion, and properly restrain the cable close to the transducer connection

Figure 2.5—Restrain Transducer Cable Close to Cable Connector

Transducer

Cable Connector

Restrain Cable to keep Repetitive Motion From Affecting the Cable Connector

Allow Enough Slack in Cable for Full Range of Motion of the Robot or Other Device

Interface Plate

Robot (Motion)

Allow Enough Slack in Cable for Full Range of Motion of the Robot or Other Device

CAUTION: Do not subject the transducer cable connector to the repetitive motion of the robot or other device. Subjecting the connector to the repetitive motion will cause damage to the connector. Restrain the cable close to the connector to keep the repetitive motion of the robot from affecting the cable connector.

CAUTION: When routing cables do not bend the cable to a smaller radius than theminimumbendingradiusspecifiedinTable 3.1. The cable will fail due to fatigue from the repetitive motion. When routing the cable make sure the cable bendsarelargerthentheminimumdynamicbendingradiusspecifiedforthecable type.

CAUTION: Do not stress or over bend the transducer cable, especially where it is attached to the transducer. This is particularly important on the Nano and Mini series of transducers. For these transducers, do not bend the cable any closerthan25mm(1inch)tothetransducer.Sharpbendsmustbeavoidedasthey can damage the cable and transducer and will void the warranty.





Figure 2.6—Transducer Bending Radius

25

To protect connector from repetitive motion, restrain

cable at connector end

To protect cable connection from repetitive motion, restrain cable at transducer end

(1 inch)

For Nano and Mini series TransducersDo not bend the cable any closer than 25mm (1 inch) to the transducer

Refer to Table 3.1 for minimum dynamic (cycled) bending

radius (at room temperature)

Refer to Table 3.1 for minimum static bending radius

(at room temperature)

Refer to Table 3.1 for minimum dynamic (cycled) bending radius (at room temperature)

Refer to Table 3.1 for minimum static bending radius (at room temperature)

Table 2.1—Transducer Cable Bending Radius

Cable Type Cable Dia.(mm)

Static Bending Radius(atroomtemperature)

Dynamic Bending Radius(atroomtemperature)

mm inch mm inch9105-TW 3.2 16 0.63 32 1.269105-C3 4.4 22 0.87 44 1.739105-CM 4.4 22 0.87 44 1.739105-CW 4.4 22 0.87 44 1.739105-CT 6.1 30.5 1.20 61 2.40

9105-C

3.2 16 0.63 32 1.264.4 22 0.87 44 1.736.1 30.5 1.20 61 2.40

10.0 50 1.97 100 3.949105-C-MTR 8.4 42 1.65 84 3.319105-C-MTS 8.4 42 1.65 84 3.31

9105-CF-MTR9105-CF-MTS 8.5 42.5 1.67 85 3.35

Note:Temperaturewillaffectcableflexibility.ATIrecommendsincreasingtheminimumdynamicbendingradiusforlower temperatures.

The transducer cable must be routed so that it is not stressed, pulled, kinked, cut, or otherwise damaged throughout the full range of motion. See the accompanying system manual for the transducer cable interfacing. If the desired application results in the cable rubbing, then use a loose plastic spiral wrap for protection.

CAUTION: Be careful not to crush the cable by over tightening tie wraps or walking on the cable, since this may damage the cable.

CAUTION: Cables on the Nano and Mini transducers are permanently attached to the transducer and cannot be disconnected. Do not attempt to disassemble these transducers, this will damage the transducer and void the warranty. Do not attempt to replace the cable. Contact ATI service for assistance.

CAUTION: Nano and Mini integral cables and cables of the 9105-C-H type must not subjectthetransducerendconnectiontomorethan10lbf(45N)ofside-to-sideorpullforce or permanent damage will result.

CAUTION: Larger transducers have removable cables. Do not attempt to disconnect these transducer cables by pulling on the cable itself or the connector boot; this can damage your system.





3. Topics3.1 Accuracy over Temperature

Typical gain errors introduced over temperature for F/T transducers with fasteners temperature compensation are listed below. These changes in sensitivity are independent of the transducer’s rated accuracy at room temperature; the two accuracy ratings must be added to find an overall estimated accuracy at a certain temperature. This overall accuracy assumes that the unloaded and loaded measurements were taken at the same temperature. Drift error over temperature is not compensated and varies with each transducer. For best results, a reference reading should be taken or bias function executed at the current temperature before applying the load of interest.

Table 3.1—Error Introduced Over Temperature for Non-Gamma TransducersDeviation from 22°C Typical Gain Error

± 5°C 0.1%

± 15°C 0.5%

± 25°C1 1%

± 50°C1 5%Note:

1. Deviation is bounded by transducer operational limits in Section 4.3—Environmental.

Table 3.2—Error Introduced Over Temperature for Gamma Transducers Deviation from 22°C Typical Gain Error

± 5°C 0.1%

± 15°C 0.5%

± 25°C1 1.5%

± 50°C1 7%Note:

1. Deviation is bounded by transducer operational limits in Section 4.3—Environmental

3.2 Tool Transformation EffectsAll transducer working specifications pertain to the factory point-of-origin only. This includes the transducer’s range, resolution, and accuracy. The transducer working specifications at a customer-applied point-of-origin will differ from those at the factory point-of-origin.





3.3 EnvironmentalThe F/T system is designed to be used in standard laboratory or light-manufacturing conditions. Transducers with an IP60 designation are able to withstand dusty environments, those with an IP65 designation are able to withstand dusty environments and wash down, and those with an IP68 designation are able to withstand dusty environments and fresh-water immersion to a specified depth. Transducers without IP65 or IP68 designation may be used in environments with up to 95% relative humidity, non-condensing.

Table 3.3—Transducer Temperature Ranges - Non-IP-RatedTransducer Model Series Storage Operation Units

9105-TIF Transducer -25 to +85 -25 to +85 °C

9105-TW Transducer -40 to +100 -40 to +100 °C

9105-TW-…-H Transducer -25 to +85 -25 to +85 °C

9105-T Transducer -20 to +80 0 to +70 °C

9105-NET Transducer -40 to +85 -40 to +85 °CNote: These temperature ranges specify the storage and operation ranges in which the transducer can survive

without damage. They do not take accuracy into account.

Table 3.4—TransducerTemperatureRanges-IP60,IP65,andIP68Transducer Model Series Storage Operation Units

9105-TIF Transducer -5 to +75 0 to +60 °C

9105-TW Transducer -5 to +105 -5 to +105 °C

9105-T Transducer -5 to +105 0 to +70 °C

9105-NET Transducer -65 to +150 0 to +70 °CNote: These temperature ranges specify the storage and operation ranges in which the transducer can survive

without damage. They do not take accuracy into account.





3.4 Mux Transducer Input Filter Frequency Response NOTICE: Mux transducers are only used in 9105-CTL, 9105-CON, and 9105-CTE systems.

The input filter used in 9105-T transducers and in the Mux box is used to prevent aliasing. This filtering is not used in 9105-TIF (DAQ) or our TWE transducers.

Figure 3.1—Muxinputfilterfrequencyresponse(-3dB@235Hz) 3.00

0.00

-3.00

-6.00

-9.00

-12.001 10 100 1000

Gainin dB

Frequency in Hz

3.5 Transducer Strain Gage SaturationThe F/T sensor’s strain gages are optimally placed to share information between the forces and torques applied to the sensor. Because of this sharing, it is possible to saturate the transducer with a complex load that has components below the rated load of the sensor. However, this arrangement allows a greater sensing range and resolution.

CAUTION: When any strain gage is saturated or otherwise inoperable, all transducer F/T readings are invalid. It is vitally important to monitor for these conditions.





4. TransducerSpecifications4.1 Notes

4.1.1 AboutCTLCalibrationSpecificationsCTL refers to F/T systems that use the F/T Controller. Transducers used in these systems either have a 9105-T-x model transducer or include a Mux Box. The output resolution of CTL systems is different from other systems. CTL systems also provide analog voltage outputs that represent each of the six axes. CTL transducers have their own calibration specification listings because of these differences.

4.1.2 Complex Loading Graph DescriptionThe graphs in the sections for each transducer may be used to estimate a sensor’s range under complex loading. Each page represents one sensor body with either English or Metric units. The top graph represents combinations of forces in the X and/or Y directions with torques about the Z-axis. The bottom graph represents combinations of Z-axis forces with X- and/or Y-axis torques. The graphs contain several different calibrations, distinguished by line weight.The sample graph shown in Figure 5.1 shows how operating ranges can change with complex loading. The labels indicate the following regions:A. Normal operating region. You can expect to achieve rated accuracy in this region.B. Saturation region. Any load in this region will report a gage saturation condition.C. Extended operating region. In this region, the sensor will operate correctly but the

full-scale accuracy is not guaranteed.

Figure 4.1—Complex Loading Sample Graph

Tz

Fxy

C

C

B

A





4.2 Nano17 Titanium4.2.1 Nano17 Titanium Physical Properties

Table 4.1—Nano17 Titanium Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±35 lbf ±160 NFz ±70 lbf ±310 NTxy ±8.9 inf-lb ±1 NmTz ±10 inf-lb ±1.2 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 2.7x104 lb/in 4.8x106 N/m Z-axisforce(Kz) 3.8x104 lb/in 6.6x106 N/m X-axis&Y-axistorque(Ktx,Kty) 1.2x103 lbf-in/rad 1.4x102 Nm/rad Z-axistorque(Ktz) 2.0x103 lbf-in/rad 2.2x102 Nm/rad Resonant Frequency Fx, Fy, Tz 3000 Hz 3000 HzFz, Tx, Ty 3000 Hz 3000 HzPhysicalSpecifications Weight1 0.0223 lb 0.0101 kgDiameter1 0.669 in 17 mmHeight1 0.571 in 14.5 mmNote: 1.Specificationsincludestandardinterfaceplates.

4.2.2 CalibrationSpecifications(excludesCTLcalibrations)Table 4.2—Nano17TitaniumCalibrations(excludesCTLcalibrations)1, 2

Sensor (US)Standard Calibration

Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Nano17 Titanium US-1.8-0.4 1.8 3.15 0.4 0.4 1/3400 1/2720 7/92800 1/18560Nano17 Titanium US-3.6-0.8 3.6 6.3 0.8 0.8 1/1700 1/1360 7/46400 1/9280Nano17 Titanium US-7.2-1.6 7.2 12.6 1.6 1.6 1/850 1/680 7/23200 1/4640

Sensor (SI)Metric Calibration

Fx,Fy (N)

Fz (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz (N)

Tx,Ty (Nm)

Tz (Nm)

Nano17 Titanium SI-8-0.05 8 14.1 50 50 1/682 1/682 3/364 5/728Nano17 Titanium SI-16-0.1 16 28.2 100 100 1/341 1/341 3/182 5/364Nano17 Titanium SI-32-0.2 32 56.4 200 200 1/171 1/171 3/92 5/184

Sensing Ranges Resolution(DAQ,NetF/T)3

Notes: 1. These system resolutions quoted are the effective resolution after dropping eight counts of noise. Theeffectiveresolutioncanbeimprovedwithfiltering. 2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly. 3. DAQ resolutions are typical for a 16-bit data acquisition system.





4.2.3 CTLCalibrationSpecificationsTable 4.3— Nano17 Titanium CTL Calibrations1, 2


Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Nano17 Titanium US-1.8-0.4 1.8 3.15 0.4 0.4 1/1700 1/1360 7/46400 1/9280Nano17 Titanium US-3.6-0.8 3.6 6.3 0.8 0.8 1/850 1/680 7/23200 1/4640Nano17 Titanium US-7.2-1.6 7.2 12.6 1.6 1.6 1/425 1/340 7/11600 1/2320


Fx,Fy (N)

Fz (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz (N)

Tx,Ty (Nm)

Tz (Nm)

Nano17 Titanium SI-8-0.05 8 14.1 50 50 1/341 1/341 3/182 5/364Nano17 Titanium SI-16-0.1 16 28.2 100 100 2/341 2/341 3/91 5/182Nano17 Titanium SI-32-0.2 32 56.4 200 200 2/171 2/171 3/46 5/92

Sensing Ranges Resolution(Controller)Notes: 1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight countsofnoise.Theeffectiveresolutioncanbeimprovedwithfiltering. 2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.

4.2.4 Analog OutputTable 4.4— Nano17 Titanium Analog Output


Fx,Fy (lbf)

Fz (lbf)

Tx,Ty,Tz (lbf-in)

Fx,Fy (lbf/V)

Fz (lbf/V)

Tx,Ty,Tz (lbf-in/V)

Nano17 Titanium US-1.8-0.4 ±1.8 ±3.15 ±0.4 0.18 0.315 0.04Nano17 Titanium US-3.6-0.8 ±3.6 ±6.3 ±0.8 0.36 0.63 0.08Nano17 Titanium US-7.2-1.6 ±7.2 ±12.6 ±1.6 0.72 1.26 0.16


Fx,Fy (N)

Fz (N)

Tx,Ty,Tz (Nmm)

Fx,Fy (N/V)

Fz (N/V)

Tx,Ty,Tz (Nm/V)

Nano17 Titanium SI-8-0.05 ±8 ±14.1 ±50 0.8 1.41 5Nano17 Titanium SI-16-0.1 ±16 ±28.2 ±100 1.6 2.82 10Nano17 Titanium SI-32-0.2 ±32 ±56.4 ±200 3.2 5.64 20

Analog Output Range Analog±10VSensitivity1

Notes: 1. ±5V Sensitivity values are double the listed ±10V Sensitivity values.

4.2.5 CountsValueTable 4.5—CountsValue

Sensor Calibration Fx,Fy,Fz (/lbf)

Tx,Ty,Tz (/lbf-in)

Fx,Fy,Fz (/N)

Tx,Ty,Tz (/Nmm)

Nano17 Titanium US-1.8–0.4/SI-8–0.05 54400 371200 1280 256Nano17 Titanium US-3.6–0.8/SI-16–0.1 27200 185600 640 128Nano17 Titanium US-7.2–1.6/SI-32–0.2 13600 82800 320 64 Nano17 Titanium Tool Transform Factor 0.0022 in/lbf 0.0375 mm/N

CountsValue–Standard(US) CountsValue–Metric(SI)





4.2.6 Nano17Titanium(USCalibrationComplexLoading)

HelpNano17 Titanium

US-1.8-0.4 US-3.6-0.8 US-7.2-1.6





4.2.7 Nano17Titanium(SICalibrationComplexLoading)

HelpNano17 Titanium

SI-8-0.05 SI-16-0.1 SI-32-0.2





4.2.8 Nano17 Titanium Transducer Drawing

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4.3 Nano17Specifications(IncludesIP65/IP68Versions)4.3.1 Nano17 Physical Properties

Table 4.6—Nano17 Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±56 lbf ±250 NFz ±110 lbf ±480 NTxy ±14 inf-lb ±1.6 NmTz ±16 inf-lb ±1.8 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.7x104 lb/in 8.2x106 N/m Z-axisforce(Kz) 6.5x104 lb/in 1.1x107 N/m X-axis&Y-axistorque(Ktx,Kty) 2.1x103 lbf-in/rad 2.4x102 Nm/rad Z-axistorque(Ktz) 3.4x103 lbf-in/rad 3.8x102 Nm/rad Resonant Frequency Fx, Fy, Tz 7200 Hz 7200 HzFz, Tx, Ty 7200 Hz 7200 HzPhysicalSpecifications Weight1 0.02 lb 0.00907 kgDiameter1 0.669 in 17 mmHeight1 0.571 in 14.5 mmNote: 1.Specificationsincludestandardinterfaceplates.

4.3.2 Nano17IP65/IP68PhysicalPropertiesTable 4.7—Nano17IP65/IP68PhysicalProperties

Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±56 lbf ±250 NFz ±110 lbf ±480 NTxy ±14 inf-lb ±1.6 NmTz ±16 inf-lb ±1.8 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.7x104 lb/in 8.2x106 N/m Z-axisforce(Kz) 6.5x104 lb/in 1.1x107 N/m X-axis&Y-axistorque(Ktx,Kty) 2.1x103 lbf-in/rad 2.4x102 Nm/rad Z-axistorque(Ktz) 3.4x103 lbf-in/rad 3.8x102 Nm/rad Resonant Frequency Fx, Fy, Tz 2200 Hz 2200 HzFz, Tx, Ty 2200 Hz 2200 HzPhysicalSpecifications Weight1 0.09 lb 0.0408 kgDiameter1 0.79 in 20.1 mmHeight1 0.873 in 22.2 mmNote: 1.Specificationsincludestandardinterfaceplates.





CAUTION: When submerged, IP68 transducers exhibit a decrease in Fz range related to the submersion depth. This loss is the result of pressure-induced preloading on the transducer. The preload can be masked by biasing the transducer at the depth prior to applying the load to be measured. The following estimates are for room temperature fresh water at sea level.

Submersion DepthIP68Nano17 US MetricFz preload at 4 m depth 2.01 lb 8.93 NFz preload at other depths -0.15 lb/ft × depth In Feet -2.23 N/m × depth In Meters

4.3.3 CalibrationSpecifications(excludesCTLcalibrations)

Table4.8—Nano17Calibrations(excludesCTLcalibrations)1, 2


Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Nano17 US-3-1 3 4.25 1 1 1/1280 1/1280 1/8000 1/8000Nano17 US-6-2 6 8.5 2 2 1/640 1/640 1/4000 1/4000Nano17 US-12-4 12 17 4 4 1/320 1/320 1/2000 1/2000


Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Nano17 SI-12-0.12 12 17 120 120 1/320 1/320 1/64 1/64Nano17 SI-25-0.25 25 35 250 250 1/160 1/160 1/32 1/32Nano17 SI-50-0.5 50 70 500 500 1/80 1/80 1/16 1/16


Notes: 1. These system resolutions quoted are the effective resolution after dropping eight counts of noise. Theeffectiveresolutioncanbeimprovedwithfiltering. 2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly. 3. For IP68 version see caution on physical properties page. 4. DAQ resolutions are typical for a 16-bit data acquisition system.





4.3.4 CTLCalibrationSpecificationsTable 4.9— Nano17 CTL Calibrations1, 2


Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Nano17 US-3-1 3 4.25 1 1 1/640 1/640 1/4000 1/4000Nano17 US-6-2 6 8.5 2 2 1/320 1/320 1/2000 1/2000Nano17 US-12-4 12 17 4 4 1/160 1/160 1/1000 1/1000


Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)


Sensing Ranges Resolution(Controller)Notes: 1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight countsofnoise.Theeffectiveresolutioncanbeimprovedwithfiltering. 2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly. 3. For IP68 version see caution on physical properties page.

4.3.5 Analog OutputTable 4.10— Nano17 Analog Output


Fx,Fy (lbf)

Fz2 (lbf)

Tx,Ty,Tz (lbf-in)

Fx,Fy (lbf/V)

Fz2 (lbf/V)

Tx,Ty,Tz (lbf-in/V)

Nano17 US-3-1 ±3 ±4.25 ±1 0.3 0.425 0.1Nano17 US-6-2 ±6 ±8.5 ±2 0.6 0.85 0.2Nano17 US-12-4 ±12 ±17 ±4 1.2 1.7 0.4


Fx,Fy (N)

Fz2 (N)

Tx,Ty,Tz (Nmm)

Fx,Fy (N/V)

Fz2 (N/V)

Tx,Ty,Tz (Nm/V)

Nano17 SI-12-0.12 ±12 ±17 ±120 1.2 1.7 12Nano17 SI-25-0.25 ±25 ±35 ±250 2.5 3.5 25Nano17 SI-50-0.5 ±50 ±70 ±500 5 7 50


Notes: 1. ±5V Sensitivity values are double the listed ±10V Sensitivity values. 2. For IP68 version see caution on physical properties page.



Tx,Ty,Tz (/lbf-in)

Fx,Fy,Fz (/N)

Tx,Ty,Tz (/Nmm)

Nano17 US-3–1/SI-12–0.25 5120 32000 1280 256Nano17 US-6–2/SI-25–0.25 2560 16000 640 128Nano17 US-12–4/SI-50–0.5 1280 8000 320 64Nano17 Tool Transform Factor 0.0016 in/lbf 0.05 mm/N






4.3.7 Nano17(USCalibrationComplexLoading)(IncludesIP65/IP68)1

HelpNano17

US-3-1 US-6-2 US-12-4

Note: 1. For IP68 version see caution on physical properties page.





4.3.8 Nano17(SICalibrationComplexLoading)(IncludesIP65/IP68)1

HelpNano17

SI-12-0.12 SI-25-0.25 SI-50-0.5






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4.4 Nano25Specifications(IncludesIP65/IP68Versions)4.4.1 Nano25 Physical Properties

Table 4.12—Nano25 Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±520 lbf ±2300 NFz ±1600 lbf ±7300 NTxy ±380 inf-lb ±43 NmTz ±560 inf-lb ±63 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 3.0x105 lb/in 5.3x107 N/m Z-axisforce(Kz) 6.3x105 lb/in 1.1x108 N/m X-axis&Y-axistorque(Ktx,Kty) 5.7x104 lbf-in/rad 6.5x103 Nm/rad Z-axistorque(Ktz) 8.1x104 lbf-in/rad 9.2x103 Nm/rad Resonant Frequency Fx, Fy, Tz 3600 Hz 3600 HzFz, Tx, Ty 3800 Hz 3800 HzPhysicalSpecifications Weight1 0.14 lb 0.0634 kgDiameter1 0.984 in 25 mmHeight1 0.85 in 21.6 mmNote: 1.Specificationsincludestandardinterfaceplates.

4.4.2 Nano25IP65/IP68PhysicalPropertiesTable 4.13—Nano25IP65/IP68PhysicalProperties

Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±520 lbf ±2300 NFz ±1600 lbf ±7300 NTxy ±380 inf-lb ±43 NmTz ±560 inf-lb ±63 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 3.0x105 lb/in 5.3x107 N/m Z-axisforce(Kz) 6.3x105 lb/in 1.1x108 N/m X-axis&Y-axistorque(Ktx,Kty) 5.7x104 lbf-in/rad 6.5x103 Nm/rad Z-axistorque(Ktz) 8.1x104 lbf-in/rad 9.2x103 Nm/rad Resonant Frequency Fx, Fy, Tz 3400 Hz 3400 HzFz, Tx, Ty 3500 Hz 3500 HzPhysicalSpecifications Weight1 0.3 lb 0.136 kgDiameter1 1.1 in 28 mmHeight1 1.08 in 27.5 mmNote: 1.Specificationsincludestandardinterfaceplates.






Submersion DepthIP68Nano17 US MetricFz preload at 4 m depth 4.33 lb 19.3 NFz preload at other depths -0.33 lb/ft × depthInFeet -4.81 N/m × depthInMeters

NOTICE: The outer body of the IP65 and the IP68 versions of the Nano25 are electricallyfloatingfromtherestofthesystem.Ifthetransducersignalhasadditionalnoise, it may be necessary to electrically connect the transducer body to the case of the F/T system.


Table 4.14—Nano25Calibrations(excludesCTLcalibrations)1, 2, 4


Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Nano25 US-25-25 25 100 25 25 1/224 3/224 1/160 1/320Nano25 US-50-50 50 200 50 30 1/112 3/112 1/80 1/160


Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Nano25 SI-125-3 125 500 3 3 1/48 1/16 1/1320 1/2640Nano25 SI-250-6 250 1000 6 3.4 1/24 1/8 1/660 1/1320


Notes: 1. These system resolutions quoted are the effective resolution after dropping four counts of noise. Theeffectiveresolutioncanbeimprovedwithfiltering. 2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly. 3. For IP68 version see caution on physical properties page. 4.Applyingmomentsbeyond±30lbf-in(±3.4Nm)inTzcancausehysteresisandpermanentzero-point changeintheNano25(appliestoallversionsoftheNano25). 5. DAQ resolutions are typical for a 16-bit data acquisition system.





4.4.4 CTLCalibrationSpecificationsTable 4.15— Nano25 CTL Calibrations1, 2, 4


Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Nano25 US-25-25 25 100 25 25 1/112 3/112 1/80 1/160Nano25 US-50-50 50 200 50 30 1/56 3/56 1/40 1/80


Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Nano25 SI-125-3 125 500 3 3 1/24 1/8 1/660 1/1320Nano25 SI-250-6 250 1000 6 3.4 1/12 1/4 1/330 1/660

Sensing Ranges Resolution(Controller)Notes: 1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight countsofnoise.Theeffectiveresolutioncanbeimprovedwithfiltering. 2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly. 3. For IP68 version see caution on physical properties page. 4.Applyingmomentsbeyond±30lbf-in(±3.4Nm)inTzcancausehysteresisandpermanentzero-point changeintheNano25(appliestoallversionsoftheNano25).

4.4.5 Analog Output

Table 4.16— Nano25 Analog Output


Fx,Fy (lbf)

Fz2 (lbf)

Tx,Ty,Tz (lbf-in)

Fx,Fy (lbf/V)

Fz2 (lbf/V)

Tx,Ty,Tz (lbf-in/V)

Nano25 US-25-25 ±25 ±100 ±25 2.5 10 2.5Nano25 US-50-50 ±50 ±200 ±50 5 20 5


Fx,Fy (N)

Fz2 (N)

Tx,Ty,Tz (Nmm)

Fx,Fy (N/V)

Fz2 (N/V)

Tx,Ty,Tz (Nm/V)

Nano25 SI-125-3 ±125 ±500 ±3 12.5 50 0.3Nano25 SI-250-6 ±250 ±1000 ±6 25 100 0.6



4.4.6 CountsValue

Table 4.17—CountsValue


Tx,Ty,Tz (/lbf-in) Fx,Fy,Fz Tx,Ty,Tz

Nano25 US-25–25/SI-125–3 896 1280 192 / N 10560 / NNano25 US-50–50/SI-250–6 448 640 96 / Nm 5280 / NmNano25 Tool Transform Factor 0.007 in/lbf 0.18182 mm/N






4.4.7 Nano25(USCalibrationComplexLoading)(IncludesIP65/IP68)1

HelpNano25

US-25-25 US-50-50






4.4.8 Nano25(SICalibrationComplexLoading)(IncludesIP65/IP68)1

HelpNano25

SI-125-3 SI-250-6






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4.5 Nano43Specifications4.5.1 Nano43 Physical Properties

Table4.18—Nano43 Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±68 lbf ±300 NFz ±86 lbf ±380 NTxy ±29 inf-lb ±3.2 NmTz ±41 inf-lb ±4.6 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 2.9x104 lb/in 5.2x106 N/m Z-axisforce(Kz) 2.9x104 lb/in 5.2x106 N/m X-axis&Y-axistorque(Ktx,Kty) 6.8x103 lbf-in/rad 7.7x102 Nm/rad Z-axistorque(Ktz) 1.0x104 lbf-in/rad 1.1x103 Nm/rad Resonant Frequency Fx, Fy, Tz 2800 Hz 2800 HzFz, Tx, Ty 2300 Hz 2300 HzPhysicalSpecifications Weight1 0.0854 lb 0.0387 kgDiameter1 1.69 in 43 mmHeight1 0.454 in 11.5 mmNote: 1.Specificationsincludestandardinterfaceplates.

NOTICE:TheouterbodyoftheNano43iselectricallyfloatingfromtherestofthesystem. If the transducer signal has additional noise, it may be necessary to electrically connect the transducer body to the case of the F/T system.

4.5.2 CalibrationSpecifications(excludesCTLcalibrations)Table 4.19—Nano43Calibrations(excludesCTLcalibrations)1, 2


Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Nano43 US-2-1 2 2 1 1 1/2320 1/2320 1/4640 1/4640Nano43 US-4-2 4 4 2 2 1/1160 1/1160 1/2320 1/2320Nano43 US-8-4 8 8 4 4 1/580 1/580 1/1160 1/1160


Fx,Fy (N)

Fz (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz (N)

Tx,Ty (Nm)

Tz (Nm)



Notes: 1. These system resolutions quoted are the effective resolution after dropping eight counts of noise. Theeffectiveresolutioncanbeimprovedwithfiltering. 2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly. 3. DAQ resolutions are typical for a 16-bit data acquisition system.





4.5.3 CTLCalibrationSpecificationsTable 4.20— Nano43 CTL Calibrations1, 2


Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Nano43 US-2-1 2 2 1 1 1/1160 1/1160 1/2320 1/2320Nano43 US-4-2 4 4 2 2 1/580 1/580 1/1160 1/1160Nano43 US-8-4 8 8 4 4 1/290 1/290 1/580 1/580


Fx,Fy (N)

Fz (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz (N)

Tx,Ty (Nm)

Tz (Nm)



4.5.4 Analog OutputTable 4.21— Nano43 Analog Output


Fx,Fy (lbf)

Fz (lbf)

Tx,Ty,Tz (lbf-in)

Fx,Fy (lbf/V)

Fz (lbf/V)

Tx,Ty,Tz (lbf-in/V)

Nano43 US-2-1 N/A N/A N/A N/A N/A N/ANano43 US-4-2 ±4 ±4 ±2 0.4 0.4 0.2Nano43 US-8-4 ±8 ±8 ±4 0.8 0.8 0.4


Fx,Fy (N)

Fz (N)

Tx,Ty,Tz (Nmm)

Fx,Fy (N/V)

Fz (N/V)

Tx,Ty,Tz (Nm/V)

Nano43 SI-9-0.125 N/A N/A N/A N/A N/A N/ANano43 SI-18-0.25 ±18 ±18 ±250 1.8 1.8 25Nano43 SI-36-0.5 ±36 ±36 ±500 3.6 3.6 50





Tx,Ty,Tz (/lbf-in)

Fx,Fy,Fz (/N)

Tx,Ty,Tz (/Nmm)

Nano43 US-2-1/SI-9-0.125 N/A N/A N/A N/ANano43 US-4–2/SI-18–0.25 4640 9280 1024 80Nano43 US-8–4/SI-36–0.5 2320 4640 512 40Nano43 Tool Transform Factor 0.005 in/lbf 0.128 mm/N






4.5.6 Nano43(USCalibrationComplexLoading)

HelpNano43

US-2-1 US-4-2 US-8-4





4.5.7 Nano43(SICalibrationComplexLoading)

HelpNano43

SI-9-0.125 SI-18-0.25 SI-36-0.5





4.5.8 Nano43 Transducer Drawing

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4.6 Mini27TitaniumSpecifications4.6.1 Mini27 Titanium Physical Properties

Table 4.23—Mini27 Titanium Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±330 lbf ±1500 NFz ±1000 lbf ±4600 NTxy ±270 inf-lb ±30 NmTz ±360 inf-lb ±40 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 1.8x105 lb/in 3.1x107 N/m Z-axisforce(Kz) 3.6x105 lb/in 6.4x107 N/m X-axis&Y-axistorque(Ktx,Kty) 4.0x104 lbf-in/rad 4.5x103 Nm/rad Z-axistorque(Ktz) 5.8x104 lbf-in/rad 6.5x103 Nm/rad Resonant Frequency Fx, Fy, Tz N/A N/AFz, Tx, Ty N/A N/APhysicalSpecifications Weight1 0.0736 lb 0.0334 kgDiameter1 1.06 in 27 mmHeight1 0.715 in 18.2 mmNote: 1.Specificationsincludestandardinterfaceplates.

4.6.2 CalibrationSpecifications(excludesCTLcalibrations)Table 4.24—Mini27TitaniumCalibrations(excludesCTLcalibrations)1, 2


Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Mini27 Titanium US-10-18 10 20 18 10 1/400 3/400 1/400 1/800Mini27 Titanium US-20-36 20 40 36 20 1/200 3/200 1/200 1/400


Fx,Fy (N)

Fz (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz (N)

Tx,Ty (Nm)

Tz (Nm)

Mini27 Titanium SI-40-2 40 80 2 1 3/200 3/100 3/8000 1/4000Mini27 Titanium SI-80-4 80 160 4 2 3/100 3/50 3/4000 1/2000


Notes: 1. These system resolutions quoted are the effective resolution after dropping four counts of noise. Theeffectiveresolutioncanbeimprovedwithfiltering. 2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly. 3. DAQ resolutions are typical for a 16-bit data acquisition system.





4.6.3 CTLCalibrationSpecificationsTable 4.25— Mini27 Titanium CTL Calibrations1, 2


Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Mini27 Titanium US-10-18 10 20 18 10 1/200 3/200 1/200 1/400Mini27 Titanium US-20-36 20 40 36 20 1/100 3/100 1/100 1/200


Fx,Fy (N)

Fz (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz (N)

Tx,Ty (Nm)

Tz (Nm)

Mini27 Titanium SI-40-2 40 80 2 1 3/100 3/50 3/4000 1/2000Mini27 Titanium SI-80-4 80 160 4 2 3/50 3/25 3/2000 1/1000


4.6.4 Analog Output

Table 4.26— Mini27 Titanium Analog Output


Fx,Fy (lbf)

Fz (lbf)

Tx,Ty,Tz (lbf-in)

Fx,Fy (lbf/V)

Fz (lbf/V)

Tx,Ty,Tz (lbf-in/V)

Mini27 Titanium US-10-18 ±10 ±20 ±18 1 2 1.8Mini27 Titanium US-20-36 ±20 ±40 ±36 2 4 3.6


Fx,Fy (N)

Fz (N)

Tx,Ty,Tz (Nmm)

Fx,Fy (N/V)

Fz (N/V)

Tx,Ty,Tz (Nm/V)

Mini27 Titanium SI-40-2 ±40 ±80 ±2 4 8 0.2Mini27 Titanium SI-80-4 ±80 ±160 ±4 8 16 0.4





Tx,Ty,Tz (/lbf-in)

Fx,Fy,Fz (/N)

Tx,Ty,Tz (/Nm)

Mini27 Titanium US-1–18/SI-40–2 3200 3200 800 32000Mini27 Titanium US-20–36/SI-80–4 1600 1600 400 16000Mini27 Titanium Tool Transform Factor 0.01 in/lbf 0.25 mm/N






4.6.6 Mini27Titanium(USCalibrationComplexLoading)

HelpMini27 Titanium

US-10-18 US-20-36





4.6.7 Mini27Titanium(SICalibrationComplexLoading)

HelpMini27 Titanium

SI-40-2 SI-80-4





4.6.8 Mini27 Titanium Transducer Drawing

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4.7 Mini40Specifications(IncludesIP65/IP68Versions)4.7.1 Mini40 Physical Properties

Table4.28—Mini40 Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±180 lbf ±810 NFz ±530 lbf ±2400 NTxy ±170 inf-lb ±19 NmTz ±180 inf-lb ±20 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 6.1x104 lb/in 1.1x107 N/m Z-axisforce(Kz) 1.2x105 lb/in 2.0x107 N/m X-axis&Y-axistorque(Ktx,Kty) 2.5x104 lbf-in/rad 2.8x103 Nm/rad Z-axistorque(Ktz) 3.6x104 lbf-in/rad 4.0x103 Nm/rad Resonant Frequency Fx, Fy, Tz 3200 Hz 3200 HzFz, Tx, Ty 4900 Hz 4900 HzPhysicalSpecifications Weight1 0.11 lb 0.0499 kgDiameter1 1.57 in 40 mmHeight1 0.482 in 12.2 mmNote: 1.Specificationsincludestandardinterfaceplates.

4.7.2 Mini40IP65/IP68PhysicalPropertiesTable 4.29—Mini40IP65/IP68PhysicalProperties

Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±180 lbf ±810 NFz ±530 lbf ±2400 NTxy ±170 inf-lb ±19 NmTz ±180 inf-lb ±20 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 6.1x104 lb/in 1.1x107 N/m Z-axisforce(Kz) 1.2x105 lb/in 2.0x107 N/m X-axis&Y-axistorque(Ktx,Kty) 2.5x104 lbf-in/rad 2.8x103 Nm/rad Z-axistorque(Ktz) 3.6x104 lbf-in/rad 4.0x103 Nm/rad Resonant Frequency Fx, Fy, Tz 1400 Hz 1400 HzFz, Tx, Ty 1300 Hz 1300 HzPhysicalSpecifications Weight1 0.6 lb 0.272 kgDiameter1 2.1 in 53.3 mmHeight1 0.83 in 21.1 mmNote: 1.Specificationsincludestandardinterfaceplates.






Submersion DepthIP68Mini40 US MetricFz preload at 4 m depth 17.0 lb 75.5 NFz preload at other depths -1.29 lb/ft × depthInFeet -18.9 N/m × depthInMeters

4.7.3 CalibrationSpecifications(excludesCTLcalibrations)Table 4.30—Mini40Calibrations(excludesCTLcalibrations)1, 2


Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Mini40 US-5-10 5 15 10 10 1/800 1/400 1/800 1/800Mini40 US-10-20 10 30 20 20 1/400 1/200 1/400 1/400Mini40 US-20-40 20 60 40 40 1/200 1/100 1/200 1/200


Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Mini40 SI-20-1 20 60 1 1 1/200 1/100 1/8000 1/8000Mini40 SI-40-2 40 120 2 2 1/100 1/50 1/4000 1/4000Mini40 SI-80-4 80 240 4 4 1/50 1/25 1/2000 1/2000


Notes: 1. These system resolutions quoted are the effective resolution after dropping four counts of noise. Theeffectiveresolutioncanbeimprovedwithfiltering. 2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly. 3. For IP68 version see caution on physical properties page. 4. DAQ resolutions are typical for a 16-bit data acquisition system.





4.7.4 CTLCalibrationSpecificationsTable 4.31— Mini40 CTL Calibrations1, 2


Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)



Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)



4.7.5 Analog OutputTable 4.32— Mini40 Analog Output


Fx,Fy (lbf)

Fz2 (lbf)

Tx,Ty,Tz (lbf-in)

Fx,Fy (lbf/V)

Fz2 (lbf/V)

Tx,Ty,Tz (lbf-in/V)

Mini40 US-5-10 ±5 ±15 ±10 0.5 1.5 1Mini40 US-10-20 ±10 ±30 ±20 1 3 2Mini40 US-20-40 ±20 ±60 ±40 2 6 4


Fx,Fy (N)

Fz2 (N)

Tx,Ty,Tz (Nmm)

Fx,Fy (N/V)

Fz2 (N/V)

Tx,Ty,Tz (Nm/V)

Mini40 SI-20-1 ±20 ±60 ±1 2 6 0.1Mini40 SI-40-2 ±40 ±120 ±2 4 12 0.2Mini40 SI-80-4 ±80 ±240 ±4 8 24 0.4





Tx,Ty,Tz (/lbf-in)

Fx,Fy,Fz (/N)

Tx,Ty,Tz (/Nm)

Mini40 US-5–10/SI-20–1 3200 3200 800 32000Mini40 US-10–20/SI-40–2 1600 1600 400 16000Mini40 US-20–40/SI-80-4 800 800 200 8000Mini40 Tool Transform Factor 0.01 in/lbf 0.25 mm/N






4.7.7 Mini40(USCalibrationComplexLoading)(IncludesIP65/IP68)1

HelpMini40

US-5-10 US-10-20 US-20-40






4.7.8 Mini40(SICalibrationComplexLoading)(IncludesIP65/IP68)1

HelpMini40

SI-20-1 SI-40-2 SI-80-4






4.7.9 Mini40-E Transducer Drawing

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17.

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3rd

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PRO

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PRO

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4.7.11 Mini40IP65/IP68TransducerDrawing

3rd

AN

GLE

PRO

JEC

TION

15.

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Tool

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4.8 Mini45TitaniumSpecifications4.8.1 Mini45 Titanium Physical Properties

Table 4.34—Mini45 Titanium Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±670 lbf ±3000 NFz ±1400 lbf ±6400 NTxy ±590 inf-lb ±67 NmTz ±720 inf-lb ±81 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 2.5x105 lb/in 4.3x107 N/m Z-axisforce(Kz) 3.3x105 lb/in 5.7x107 N/m X-axis&Y-axistorque(Ktx,Kty) 8.6x104 lbf-in/rad 9.7x103 Nm/rad Z-axistorque(Ktz) 1.8x105 lbf-in/rad 2.0x104 Nm/rad Resonant Frequency Fx, Fy, Tz 5800 Hz 5800 HzFz, Tx, Ty 4600 Hz 4600 HzPhysicalSpecifications Weight1 0.22 lb 0.0998 kgDiameter1 1.77 in 45 mmHeight1 0.69 in 17.5 mmNote: 1.Specificationsincludestandardinterfaceplates.

4.8.2 CalibrationSpecifications(excludesCTLcalibrations)Table 4.35—Mini45TitaniumCalibrations(excludesCTLcalibrations)1, 2


Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Mini45 Titanium US-15-25 15 30 25 25 3/800 1/160 1/300 1/400Mini45 Titanium US-30-50 30 60 50 50 3/400 1/80 1/150 1/200Mini45 Titanium US-60-100 60 120 100 100 3/200 1/40 1/75 1/100


Fx,Fy (N)

Fz (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz (N)

Tx,Ty (Nm)

Tz (Nm)

Mini45 Titanium SI-60-3 60 120 3 3 1/60 7/240 3/8000 1/3200Mini45 Titanium SI-120-6 120 240 6 6 1/30 7/120 3/4000 1/1600Mini45 Titanium SI-240-12 240 480 12 12 1/15 7/60 3/2000 1/800







4.8.3 CTLCalibrationSpecificationsTable 4.36— Mini45 Titanium CTL Calibrations1, 2


Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Mini45 Titanium US-15-25 15 30 25 25 3/400 1/80 1/150 1/200Mini45 Titanium US-30-50 30 60 50 50 3/200 1/40 1/75 1/100Mini45 Titanium US-60-100 60 120 100 100 3/100 1/20 2/75 1/50


Fx,Fy (N)

Fz (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz (N)

Tx,Ty (Nm)

Tz (Nm)

Mini45 Titanium SI-60-3 60 120 3 3 1/30 7/120 3/4000 1/1600Mini45 Titanium SI-120-6 120 240 6 6 1/15 7/60 3/2000 1/800Mini45 Titanium SI-240-12 240 480 12 12 2/15 7/30 3/1000 1/400


4.8.4 Analog Output

Table 4.37— Mini45 Titanium Analog Output


Fx,Fy (lbf)

Fz (lbf)

Tx,Ty,Tz (lbf-in)

Fx,Fy (lbf/V)

Fz (lbf/V)

Tx,Ty,Tz (lbf-in/V)

Mini45 Titanium US-15-25 ±15 ±30 ±25 1.5 3 2.5Mini45 Titanium US-30-50 ±30 ±60 ±50 3 6 5Mini45 Titanium US-60-100 ±60 ±120 ±100 6 12 10


Fx,Fy (N)

Fz (N)

Tx,Ty,Tz (Nmm)

Fx,Fy (N/V)

Fz (N/V)

Tx,Ty,Tz (Nm/V)

Mini45 Titanium SI-60-3 ±60 ±120 ±3 6 12 0.3Mini45 Titanium SI-120-6 ±120 ±240 ±6 12 24 0.6Mini45 Titanium SI-240-12 ±240 ±480 ±12 24 48 1.2



4.8.5 CountsValueTable4.38—CountsValue


Tx,Ty,Tz (/lbf-in)

Fx,Fy,Fz (/N)

Tx,Ty,Tz (/Nm)

Mini45 Titanium US-15-25/SI-60-3 640 704 128 6016Mini45 Titanium US-30-50/SI-120-6 320 352 64 3008Mini45 Titanium US-60-100/SI-240-12 160 176 32 1504Mini45 Titanium Tool Transform Factor 0.009091 in/lbf 0.21277 mm/N






4.8.6 Mini45Titanium(USCalibrationComplexLoading)

HelpMini45 Titanium

US-15-25 US-30-50 US-60-100





4.8.7 Mini45Titanium(SICalibrationComplexLoading)

HelpMini45 Titanium

SI-60-3 SI-120-6 SI-240-12





4.8.8 Mini45 Titanium Axial Exit Transducer Drawing

3rd

AN

GLE

PRO

JEC

TION

B.C

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10°

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p

6X T

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as 1

7mm

dia

met

er &

is 6

7.5m

m lo

ng.

4.D

o no

t allo

w it

ems

pass

ing

thro

ugh

cent

er h

ole

to to

uch

both

the

Mou

ntin

g5.

and

Tool

Ada

pter

Pla

tes

or a

ccur

acy

will

be c

ompr

omis

ed.

Rev.

Des

crip

tion

Initi

ator

Dat

e

02EC

O13

701:

Add

ed R

adia

l Exit

Opt

ion;

Rem

oved

Cus

tom

er

Inte

rface

Des

igna

tor F

rom

Tool

Sid

e C

ente

rA

NG

8/17

/201

5

B2:

11

1RE

VISIO

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NO

TES:

UN

LESS

OTH

ERW

ISE

SPEC

IFIED

.

DO

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WIN

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ALL

DIM

ENSI

ON

S A

RE IN

M

ILLIM

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BY:

CHE

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R. C

ham

bers

1/2

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J. W

alse

r 1/4

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TITLE SC

ALE

SIZE

DRA

WIN

G N

UMBE

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PRO

JEC

T #SH

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F 92

30-0

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ISO

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Reg

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Min

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Tita

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4.8.9 Mini45 Titanium Right Angle E-Exit Transducer Drawing

3rd

AN

GLE

PRO

JEC

TION

19.

622±

0.02

5 3 Sl

ip F

it 5

Cus

tom

er In

terfa

ce(S

ee N

ote

3)

9.53

89.

512

3C

usto

mer

Inte

rface

(See

Not

es 4

& 5

)

50°

20°

6X T

ap M

3X0.

5 5

Pairs

Equ

ally

Spa

ced

Cus

tom

er In

terfa

ce(S

ee N

ote

3)

B.C

.39

.24

15.

8

13.

5

31.

3

30.

9

5.

3

MO

UN

TIN

G S

IDE

+X -X

-Y+Y

45

17.

5

5.5

8.3

Sens

ing

Ref

eren

ceFr

ame

Orig

inM

ount

ing

Adap

ter

Plat

e

Tool

Adap

ter

Plat

e

-Z+Z

SID

E VI

EW

14.

097±

0.02

5 2

1.14

6±0.

025

12.

208±

0.02

5 2X

3

Slip

Fit

5C

usto

mer

Inte

rface

(See

Not

e 3)

B.C

.28

.19

40°

Typ

6X T

ap M

3X0.

5 5

Pairs

Equ

ally

Spa

ced

Cus

tom

er In

terfa

ce(S

ee N

ote

3)

9.57

69.

474

3C

usto

mer

Inte

rface

(See

Not

es 4

& 5

)

20°

Sens

ing

Ref

eren

ceFr

ame

Orig

in

TOO

L SI

DE

+X -X

-Y+Y

ISO

MET

RIC

VIE

W

Not

es:

Mat

eria

l: Tr

ansd

ucer

, Mou

ntin

g an

d To

ol A

dapt

er m

ade

of

1.Ti

tani

um T

i-6Al

-4V

Gra

de 5

WA

RN

ING

: DO

NO

T LO

OSE

N O

R R

EMO

VE IN

TER

FAC

E PL

ATE

S 2.

OR

CA

BLE

FIT

TIN

G D

UE

TO P

OTE

NTI

AL

DA

MA

GE.

DO

NO

T EX

CEE

D IN

TER

FAC

E D

EPTH

, MA

Y C

AU

SE D

AM

AG

E.3.

Thru

hol

e is

9.4

mm

. Sp

ecifi

ed to

lera

nces

are

for m

atin

g to

a b

oss.

4.D

o no

t allo

w it

ems

pass

ing

thro

ugh

cent

er h

ole

to to

uch

both

the

Mou

ntin

g5.

and

Tool

Ada

pter

Pla

tes

or a

ccur

acy

will

be c

ompr

omis

ed.

Stan

dard

con

nect

or (n

ot s

how

n) h

as 1

7mm

dia

met

er a

nd is

67.

5mm

long

.6.

Rev.

Des

crip

tion

Initi

ator

Dat

e

01In

itial

Dra

win

gRK

C1/

4/20

13

B2:

11

1RE

VISIO

N

NO

TES:

UN

LESS

OTH

ERW

ISE

SPEC

IFIED

.

DO

NO

T SC

ALE

DRA

WIN

G.

ALL

DIM

ENSI

ON

S A

RE IN

M

ILLIM

ETER

S.

DRA

WN

BY:

CHE

CKE

D B

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R. C

ham

bers

1/1

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L. F

ishe

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TITLE SC

ALE

SIZE

DRA

WIN

G N

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R

PRO

JEC

T #SH

EET

O

F 92

30-0

5-14

4112

1116

-101

PRO

PERT

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F A

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ISO

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Reg

ister

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ompa

ny

Min

i45

Tita

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Rig

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xit T

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duce

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4.9 Mini45Specifications(IncludesIP65/IP68Versions)4.9.1 Mini45 Physical Properties

Table 4.39—Mini45 Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±1100 lbf ±5100 NFz ±2300 lbf ±10000 NTxy ±1000 inf-lb ±110 NmTz ±1200 inf-lb ±140 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.2x105 lb/in 7.4x107 N/m Z-axisforce(Kz) 5.6x105 lb/in 9.8x107 N/m X-axis&Y-axistorque(Ktx,Kty) 1.5x105 lbf-in/rad 1.7x104 Nm/rad Z-axistorque(Ktz) 3.1x105 lbf-in/rad 3.5x104 Nm/rad Resonant Frequency Fx, Fy, Tz 5600 Hz 5600 HzFz, Tx, Ty 5400 Hz 5400 HzPhysicalSpecifications Weight1 0.202 lb 0.0917 kgDiameter1 1.77 in 45 mmHeight1 0.618 in 15.7 mmNote: 1.Specificationsincludestandardinterfaceplates.








Submersion DepthIP68Mini45 US MetricFz preload at 4 m depth 17.0 lb 75.5 NFz preload at other depths -1.29 lb/ft × depthInFeet -18.9 N/m × depthInMeters


Table 4.41—Mini45Calibrations(excludesCTLcalibrations)1, 2


Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)



Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)








4.9.4 CTLCalibrationSpecificationsTable 4.42— Mini45 CTL Calibrations1, 2


Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)



Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)



4.9.5 Analog Output

Table 4.43— Mini45 Analog Output


Fx,Fy (lbf)

Fz2 (lbf)

Tx,Ty,Tz (lbf-in)

Fx,Fy (lbf/V)

Fz2 (lbf/V)

Tx,Ty,Tz (lbf-in/V)

Mini45 US-30-40 ±30 ±60 ±40 3 6 4Mini45 US-60-80 ±60 ±120 ±80 6 12 8Mini45 US-120-160 ±120 ±240 ±160 12 24 16


Fx,Fy (N)

Fz2 (N)

Tx,Ty,Tz (Nmm)

Fx,Fy (N/V)

Fz2 (N/V)

Tx,Ty,Tz (Nm/V)

Mini45 SI-145-5 ±145 ±290 ±5 14.5 29 0.5Mini45 SI-290-10 ±290 ±580 ±10 29 58 1Mini45 SI-580-20 ±580 ±1160 ±20 58 116 2



4.9.6 CountsValue



Tx,Ty,Tz (/lbf-in)

Fx,Fy,Fz (/N)

Tx,Ty,Tz (/Nm)

Mini45 US-30–40/SI-145–5 640 704 128 6016Mini45 US-60–80/SI-290–10 320 352 64 3008Mini45 US-120–160/SI-580–20 160 176 32 1504Mini45 Tool Transform Factor 0.009091 in/lbf 0.21277 mm/N






4.9.7 Mini45(USCalibrationComplexLoading)(IncludesIP65/IP68)1

HelpMini45

US-30-40 US-60-80 US-120-160






4.9.8 Mini45(SICalibrationComplexLoading)(IncludesIP65/IP68)1

HelpMini45

SI-145-5 SI-290-10 SI-580-20






4.9.9 Mini45-E Transducer Drawing

3rd

AN

GLE

PRO

JEC

TION

21.1

46±0

.025

12.2

08±0

.025 9.57

69.

474

3.0

(See

Not

e 5)

20°

2X

3 Sl

ip F

it 3.

2C

usto

mer

Inte

rface

(See

Not

e 3)

14.

097±

0.02

5

10°

40°

B.C

.28

.2

6X T

ap M

3X0.

5 3.

0Pa

irs E

qual

ly S

pace

dC

usto

mer

Inte

rface

(See

Not

e 3)

Sens

ing

Ref

eren

ceFr

ame

Orig

in

+X

-X

-Y+Y

TOO

L SI

DE

12.1

45

3.5

15.7

-Z

Sens

ing

Ref

eren

ceFr

ame

Orig

in

Tool

Ada

pter

Mou

ntin

g Ad

apte

r

SID

E VI

EW

9.53

89.

512

3.0

(See

Not

e 5)

26.7

17.3

15.5

19.6

22±0

.025 10

°

10°3 Sl

ip F

it 5.

0C

usto

mer

Inte

rface

(See

Not

e 3)

5.

3

B.C

. 39

.24

+Z

6X T

ap M

3X0.

5 5.

0Pa

irs E

qual

ly S

pace

dC

usto

mer

Inte

rface

(See

Not

e 3)

+X -X

-Y+Y

MO

UN

TIN

G S

IDE

ISO

MET

RIC

VIE

W

NO

TES: Mat

eria

l: M

ount

ing

and

Tool

Ada

pter

mad

e of

Alu

min

um, T

rans

duce

r mad

e of

Sta

inle

ss S

teel

.1.

WA

RN

ING

: DO

NO

T LO

OSE

N O

R R

EMO

VE IN

TER

FAC

E PL

ATE

S O

R C

AB

LE D

UE

TO

2.PO

TEN

TIA

L D

AM

AG

E.D

O N

OT

EXC

EED

INTE

RFA

CE

DEP

TH. M

AY

CA

USE

DA

MA

GE.

3.St

anda

rd c

onne

ctor

(not

sho

wn)

has

17m

m d

iam

eter

& is

67.

5mm

long

.4.

Do

not a

llow

item

s pa

ssin

g th

roug

h ce

nter

hol

e to

touc

h bo

th th

e M

ount

ing

and

Tool

Ada

pter

5.

Plat

es o

r acc

urac

y w

ill be

com

prom

ised

.

Rev.

Des

crip

tion

Initi

ator

Dat

e

05

ECO

139

27; U

pdat

ed to

show

cor

rect

orie

ntat

ion

of To

ol A

dapt

er,

repo

sitio

ned

Tool

Sid

e di

men

sions

/cal

l out

s to

elim

inat

e ov

erla

ppin

g, a

nd u

pdat

ed Ti

tle B

lock

. Upd

ated

Not

es to

incl

ude

mor

e de

taile

d in

form

atio

n an

d to

mov

e C

usto

mer

Inte

rface

from

N

otes

to sp

ecifi

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sem

bly

feat

ures

.

SZJ

3/15

/201

6

B2:

11

1RE

VISIO

N

NO

TES:

UN

LESS

OTH

ERW

ISE

SPEC

IFIED

.

DO

NO

T SC

ALE

DRA

WIN

G.

ALL

DIM

ENSI

ON

S A

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M

ILLIM

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S.

DRA

WN

BY:

CHE

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J. P

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TITLE SC

ALE

SIZE

DRA

WIN

G N

UMBE

R

PRO

JEC

T #SH

EET

O

F 92

30-0

5-13

1505

PRO

PERT

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, IN

C. N

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PRO

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ED IN

AN

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EXC

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OR

WITH

PRI

OR

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x: +1

.919.7

72.82

59

www

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ISO

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Reg

ister

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ompa

ny

Min

i45-

E Tr

ansd

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with

Stra

in R

elie

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Cab

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4.9.10 Mini45-ERA Transducer Drawing

3rd

AN

GLE

PRO

JEC

TION

19.6

22±0

.025

50°

20°

39.2

4

15.8

31.3

30.95.

3

9.57

69.

474

3(S

ee N

ote

5)

13.5

6X T

ap M

3X0.

5 5

Pairs

Equ

ally

Spa

ced

Cus

tom

er In

terfa

ce

(See

Not

e 3)

3 (S

lip F

it)

5.0

Cus

tom

er In

terfa

ce(S

ee N

ote

3) MO

UN

TIN

G S

IDE

+X -X

-Y+Y

45

15.7

8.3

SID

E VI

EW

Tool

Ada

pter

Plat

eM

ount

ing

Adap

ter

Plat

e

Sens

ing

Ref

eren

ceFr

ame

Orig

in

+Z

14.0

97±0

.025

21.1

46±0

.025

12.2

08±0

.025

40°

40°

9.57

69.

474

3(S

ee N

ote

5)

6X T

ap M

3X0.

5 3

Pairs

Equ

ally

Spa

ced

Cus

tom

er In

terfa

ce(S

ee N

ote

3)2X

3

(Slip

Fit)

3

.2C

usto

mer

Inte

rface

(See

Not

e 3)

28

.2

TOO

L S

IDESe

nsin

g R

efer

ence

Fram

e O

rigin

-X

+X

+Y-Y

ISO

MET

RIC

VIE

W

NO

TES:

1. M

ater

ial:

Mou

ntin

g an

d To

ol a

dapt

er m

ade

of A

lum

inum

, Tra

nsdu

cer m

ade

o

f Sta

inle

ss S

teel

.2.

WA

RN

ING

: DO

NO

T LO

OSE

N O

R R

EMO

VE IN

TER

FAC

E PL

ATE

S O

R

CA

BLE

DU

E TO

PO

TEN

TIA

L D

AM

AG

E.3.

DO

NO

T EX

CEE

D IN

TER

FAC

E D

EPTH

. MA

Y C

AU

SE D

AM

AG

E.4.

Sta

ndar

d co

nnec

tor (

not s

how

n) h

as 1

7mm

dia

met

er &

is 6

7.5m

m lo

ng.

5. D

o no

t allo

w it

ems

pass

ing

thro

ugh

cent

er h

ole

to to

uch

both

the

mou

ntin

g

and

tool

ada

pter

pla

tes

or a

ccur

acy

will

be c

ompr

omis

ed.

-Z

Rev.

Des

crip

tion

Initi

ator

Dat

e

04EC

O 1

4343

: Add

ed m

issin

g 28

.2 c

all o

ut to

TOO

L SI

DE

view

; Upd

ated

not

es, f

orm

attin

g to

cur

rent

stan

dard

s.TB

C8/

1/20

16

B2:

11

1RE

VISIO

N

NO

TES:

UN

LESS

OTH

ERW

ISE

SPEC

IFIED

.

DO

NO

T SC

ALE

DRA

WIN

G.

ALL

DIM

ENSI

ON

S A

RE IN

M

ILLIM

ETER

S.

DRA

WN

BY:

CHE

CKE

D B

Y:

R. C

ham

bers

7/1

7/08

P. F

usco

7/1

7/08

TITLE SC

ALE

SIZE

DRA

WIN

G N

UMBE

R

PRO

JEC

T #SH

EET

O

F 92

30-0

5-13

3804

PRO

PERT

Y O

F A

TI IN

DUS

TRIA

L A

UTO

MA

TION

, IN

C. N

OT T

O B

E RE

PRO

DUC

ED IN

AN

Y M

AN

NER

EXC

EPT O

N O

RDER

OR

WITH

PRI

OR

WRI

TTEN

AUT

HORI

ZATIO

N O

F A

TI.

1031

Goo

dwor

th Dr

ive, A

pex,

NC 27

539,

USA

Tel: +

1.919

.772.0

115

Em

ail: in

fo@ati

-ia.co

mFa

x: +1

.919.7

72.82

59

www

.ati-ia

.com

ISO

9001

Reg

ister

ed C

ompa

ny

Min

i45-

ERA

Tran

sduc

er





4.9.11 Mini45-AE Transducer Drawing

3rd

AN

GLE

PRO

JEC

TION

14

4X

R3

20°

10°

5.8

8.4

19.

622±

0.02

5

B.C

. 39

.24

3 Sl

ip F

it 5

Cus

tom

er In

terfa

ce(S

ee N

ote

3)

9.53

89.

512

3C

usto

mer

Inte

rface

(See

Not

es 4

& 5

)

30°

7

-X

+Y-Y

+X

6X T

ap M

3X0.

55

Pairs

Equ

ally

Spa

ced

Cus

tom

er In

terfa

ce(S

ee N

ote

3)

45

5.7

15.

7

5.

3

3.6

21.

2 3

.7

+Z-Z

Tool

Ada

pter

Pla

te

Sens

ing

Ref

eren

ce

Fram

e O

rigin

Mou

ntin

g Ad

apte

r Pl

ate

12.

208±

0.02

5

14.

097±

0.02

5

21.

146±

0.02

5

20°

40°

9.57

69.

474

3(S

ee N

otes

4 &

5)

B.C

. 28

.2

6X T

ap M

3X0.

53

Pairs

Equ

ally

Spa

ced

Cus

tom

er In

terfa

ce(S

ee N

ote

3)

-X

-Y

+X

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4.9.13 Legacy Mini45 Transducer Drawing

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4.10 Mini58Specifications(IncludesIP60/IP65/IP68Versions)4.10.1 Mini58PhysicalProperties

Table 4.45—Mini58PhysicalPropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±4800 lbf ±21000 NFz ±11000 lbf ±48000 NTxy ±5300 inf-lb ±590 NmTz ±7100 inf-lb ±800 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 1.4x106 lb/in 2.5x108 N/m Z-axisforce(Kz) 2.1x106 lb/in 3.7x108 N/m X-axis&Y-axistorque(Ktx,Kty) 9.3x105 lbf-in/rad 1.1x105 Nm/rad Z-axistorque(Ktz) 1.8x106 lbf-in/rad 2.0x105 Nm/rad Resonant Frequency Fx, Fy, Tz 3000 Hz 3000 HzFz, Tx, Ty 5700 Hz 5700 HzPhysicalSpecifications Weight1 0.76 lb 0.345 kgDiameter1 2.28 in 58 mmHeight1 1.18 in 30 mmNote: 1.Specificationsincludestandardinterfaceplates.

4.10.2 Mini58IP60PhysicalPropertiesTable 4.46—Mini58IP60PhysicalProperties

Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±4800 lbf ±21000 NFz ±11000 lbf ±48000 NTxy ±5300 inf-lb ±590 NmTz ±7100 inf-lb ±800 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 1.4x106 lb/in 2.5x108 N/m Z-axisforce(Kz) 2.1x106 lb/in 3.7x108 N/m X-axis&Y-axistorque(Ktx,Kty) 9.3x105 lbf-in/rad 1.1x105 Nm/rad Z-axistorque(Ktz) 1.8x106 lbf-in/rad 2.0x105 Nm/rad Resonant Frequency Fx, Fy, Tz N/A N/AFz, Tx, Ty N/A N/APhysicalSpecifications Weight1 1.15 lb 0.522 kgDiameter1 3.23 in 82 mmHeight1 1.42 in 36.2 mmNote: 1.Specificationsincludestandardinterfaceplates.






Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±4800 lbf ±21000 NFz ±11000 lbf ±48000 NTxy ±5300 inf-lb ±590 NmTz ±7100 inf-lb ±800 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 1.4x106 lb/in 2.5x108 N/m Z-axisforce(Kz) 2.1x106 lb/in 3.7x108 N/m X-axis&Y-axistorque(Ktx,Kty) 9.3x105 lbf-in/rad 1.1x105 Nm/rad Z-axistorque(Ktz) 1.8x106 lbf-in/rad 2.0x105 Nm/rad Resonant Frequency Fx, Fy, Tz N/A N/AFz, Tx, Ty N/A N/APhysicalSpecifications Weight1 1.77 lb 0.804 kgDiameter1 2.58 in 65.4 mmHeight1 1.48 in 37.6 mmNote: 1.Specificationsincludestandardinterfaceplates.


Submersion DepthIP68Mini58 US MetricFz preload at 4 m depth 24.3 lb 108 NFz preload at other depths -1.86 lb/ft × depthInFeet -27.1 N/m × depthInMeters






Table4.48—Mini58Calibrations(excludesCTLcalibrations)1, 2


Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)



Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Mini58 SI-700-30 700 1700 30 30 1/6 7/24 9/1600 1/320Mini58 SI-1400-60 1400 3400 60 60 1/3 7/12 9/800 1/160Mini58 SI-2800-120 2800 6800 120 120 3/4 1 1/4 9/400 1/80



4.10.5 CTLCalibrationSpecifications

Table 4.49—Mini58CTLCalibrations1, 2


Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)



Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Mini58 SI-700-30 700 1700 30 30 1/3 7/12 9/800 1/160Mini58 SI-1400-60 1400 3400 60 60 2/3 1 1/6 9/400 1/80Mini58 SI-2800-120 2800 6800 120 120 1 1/2 2 1/2 9/200 1/40






4.10.6 Analog Output

Table 4.50—Mini58AnalogOutput


Fx,Fy (lbf)

Fz2 (lbf)

Tx,Ty,Tz (lbf-in)

Fx,Fy (lbf/V)

Fz2 (lbf/V)

Tx,Ty,Tz (lbf-in/V)

Mini58 US-150-250 ±150 ±375 ±250 15 37.5 25Mini58 US-300-500 ±300 ±750 ±500 30 75 50Mini58 US-600-1000 ±600 ±1500 ±1000 60 150 100


Fx,Fy (N)

Fz2 (N)

Tx,Ty,Tz (Nmm)

Fx,Fy (N/V)

Fz2 (N/V)

Tx,Ty,Tz (Nm/V)

Mini58 SI-700-30 ±700 ±1700 ±30 70 170 3Mini58 SI-1400-60 ±1400 ±3400 ±60 140 340 6Mini58 SI-2800-120 ±2800 ±6800 ±120 280 680 12





Tx,Ty,Tz (/lbf-in)

Fx,Fy,Fz (/N)

Tx,Ty,Tz (/Nm)

Mini58 US-150-250/SI-700-30 448 960 96 6400Mini58 US-300-500/SI-1400-60 224 480 48 3200Mini58 US-600-1000/SI-2800-120 112 240 16 1600Mini58 Tool Transform Factor See Tool Transform Factor table


4.10.8 Tool Transform Factor

Table 4.52—Tool Transform FactorSensor Calibration US(English) SI(Metric)Mini58 US-150-250/SI-700-30 0.00467 in/lbf 0.150 mm/NMini58 US-300-500/SI-1400-60 0.00467 in/lbf 0.150 mm/NMini58 US-600-1000/SI-2800-120 0.00467 in/lbf 0.150 mm/N





4.10.9 Mini58(USCalibrationComplexLoading)(IncludesIP60/IP65/IP68)1

HelpMini58

US-150-250 US-300-500 US-600-1000






4.10.10 Mini58(SICalibrationComplexLoading)(IncludesIP60/IP65/IP68)1

HelpMini58

SI-700-30 SI-1400-60 SI-2800-120






4.10.11 Mini58TransducerDrawing

3rd

AN

GLE

PRO

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18°

36°

Typ

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4.11 Mini85Specifications(IncludesIP60Versions)4.11.1 Mini85PhysicalProperties

Table 4.53—Mini85PhysicalPropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±2800 lbf ±13000 NFz ±6100 lbf ±27000 NTxy ±4400 inf-lb ±500 NmTz ±5400 inf-lb ±610 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.4x105 lb/in 7.7x107 N/m Z-axisforce(Kz) 6.8x105 lb/in 1.2x108 N/m X-axis&Y-axistorque(Ktx,Kty) 7.2x105 lbf-in/rad 8.1x104 Nm/rad Z-axistorque(Ktz) 1.2x106 lbf-in/rad 1.3x105 Nm/rad Resonant Frequency Fx, Fy, Tz 2400 Hz 2400 HzFz, Tx, Ty 3100 Hz 3100 HzPhysicalSpecifications Weight1 1.4 lb 0.635 kgDiameter1 3.35 in 85.1 mmHeight1 1.17 in 29.8 mmNote: 1.Specificationsincludestandardinterfaceplates.


Table 4.54—Mini85Calibrations(excludesCTLcalibrations)1, 2


Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)



Fx,Fy (N)

Fz (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz (N)

Tx,Ty (Nm)

Tz (Nm)








4.11.3 CTLCalibrationSpecificationsTable 4.55—Mini85CTLCalibrations1, 2


Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)



Fx,Fy (N)

Fz (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz (N)

Tx,Ty (Nm)

Tz (Nm)



4.11.4 Analog OutputTable 4.56—Mini85AnalogOutput


Fx,Fy (lbf)

Fz (lbf)

Tx,Ty,Tz (lbf-in)

Fx,Fy (lbf/V)

Fz (lbf/V)

Tx,Ty,Tz (lbf-in/V)

Mini85 US-105-185 ±105 ±210 ±185 10.5 21 18.5Mini85 US-210-370 ±210 ±420 ±370 21 42 37Mini85 US-420-740 ±420 ±840 ±740 42 84 74


Fx,Fy (N)

Fz (N)

Tx,Ty,Tz (Nmm)

Fx,Fy (N/V)

Fz (N/V)

Tx,Ty,Tz (Nm/V)

Mini85 SI-475-20 ±475 ±950 ±20 47.5 95 2Mini85 SI-950-40 ±950 ±1900 ±40 95 190 4Mini85 SI-1900-80 ±1900 ±3800 ±80 190 380 8





Tx,Ty,Tz (/lbf-in)

Fx,Fy,Fz (/N)

Tx,Ty,Tz (/Nm)

Mini85 US-105-185/SI-475-20 1040 1344 448 11968Mini85 US-210-370/SI-950-40 512 672 224 5984Mini85 US-420-740/SI-1900-80 256 336 112 2992Mini85 Tool Transform Factor See Tool Transform Factor table







Table4.58—Tool Transform FactorSensor Calibration US(English) SI(Metric)Mini85 US-105-185/SI-475-20 0.00774 in/lbf 0.374 mm/NMini85 US-210-370/SI-950-40 0.00762 in/lbf 0.374 mm/NMini85 US-420-740/SI-1900-80 0.00762 in/lbf 0.374 mm/N





4.11.7 Mini85(USCalibrationComplexLoading)(IncludesIP60)

HelpMini85

US-105-185 US-210-370 US-420-740





4.11.8 Mini85(SICalibrationComplexLoading)(IncludesIP60)

HelpMini85

SI-475-20 SI-950-40 SI-1900-80





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4.11.11 Mini85IP60Transducerwith20mmThrough-HoleDrawing

3rd

AN

GLE

PRO

JEC

TION

200+0.1

27 T

hru

(See

Not

e 4)

37±0

.025

71.3

06±0

.025

13.8

60±0

.025

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ap M

5X0.

8 9

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qual

ly S

pace

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rface

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Not

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B.C

.74

10°

20° T

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TOO

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MO

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-X+X

+Y-Y

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Slip

Fit

9.0

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tom

er In

terfa

ce(S

ee N

ote

3)

10.3

11.5

85

29.8

7.5

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it

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Mou

ntin

gAd

apte

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Sens

ing

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eren

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ame

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in

Tool

Adap

ter

Plat

e

27±0

.025

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.025

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.025

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qual

ly S

pace

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Inte

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(See

Not

e 3)

B.C

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70

°

40°

40° T

yp.

SID

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EW

-Y+Y

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Sens

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2X5

Slip

Fit

6.5

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tom

er In

terfa

ce(S

ee N

ote

3)

ISO

MET

RIC

VIE

W

Not

es:

1. M

ater

ial:

Mou

ntin

g an

d To

ol A

dapt

er m

ade

of a

lum

inum

,

Tra

nsdu

cer m

ade

of h

arde

ned

stai

nles

s st

eel.

2. W

AR

NIN

G: D

O N

OT

LOO

SEN

OR

REM

OVE

INTE

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P

LATE

S O

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AB

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TO P

OTE

NTI

AL

DA

MA

GE

3. D

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EXC

EED

INTE

RFA

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DEP

TH, M

AY

CA

USE

DA

MA

GE

4. D

o no

t allo

w it

ems

pass

ing

thro

ugh

cent

er h

ole

to to

uch

both

the

M

ount

ing

and

Tool

Ada

pter

Pla

tes

or a

ccur

acy

will

be c

ompr

omis

ed.

5. C

onne

ctor

(not

sho

wn)

has

17m

m d

iam

eter

and

is 6

7.5m

m lo

ng.

6. F

or b

est a

ccur

acy,

tran

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e m

ount

ed to

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rigi

d

eno

ugh

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ctio

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Rev.

Des

crip

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Initi

ator

Dat

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02M

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dra

win

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rmat

to m

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8/30

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4.12 GammaSpecifications(IncludesIP60/IP65/IP68Versions)4.12.1 Gamma Physical Properties

Table 4.59—Gamma Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±280 lbf ±1200 NFz ±930 lbf ±4100 NTxy ±700 inf-lb ±79 NmTz ±730 inf-lb ±82 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 5.2x104 lb/in 9.1x106 N/m Z-axisforce(Kz) 1.0x105 lb/in 1.8x107 N/m X-axis&Y-axistorque(Ktx,Kty) 9.3x104 lbf-in/rad 1.1x104 Nm/rad Z-axistorque(Ktz) 1.4x105 lbf-in/rad 1.6x104 Nm/rad Resonant Frequency Fx, Fy, Tz 1400 Hz 1400 HzFz, Tx, Ty 2000 Hz 2000 HzPhysicalSpecifications Weight1 0.562 lb 0.255 kgDiameter1 2.97 in 75.4 mmHeight1 1.31 in 33.3 mmNote: 1.Specificationsincludestandardinterfaceplates.

4.12.2 Gamma IP60 Physical PropertiesTable 4.60—Gamma IP60 Physical Properties






4.12.3 Gamma IP65 Physical PropertiesTable 4.61—Gamma IP65 Physical Properties


4.12.4 GammaIP68PhysicalPropertiesTable 4.62—GammaIP68PhysicalProperties







Submersion DepthIP68Gamma US MetricFz preload at 4 m depth -42.9 lb -191 NFz preload at other depths -3.27 lb/ft × depthInFeet -47.4 N/m × depthInMeters

4.12.5 CalibrationSpecifications(excludesCTLcalibrations)Table 4.63—GammaCalibrations(excludesCTLcalibrations)1, 2


Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Gamma US-7.5-25 7.5 25 25 25 1/640 1/320 1/320 1/320Gamma US-15-50 15 50 50 50 1/320 1/160 1/160 1/160Gamma US-30-100 30 100 100 100 1/160 1/80 1/80 1/80


Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Gamma SI-32-2.5 32 100 2.5 2.5 1/160 1/80 1/2000 1/2000Gamma SI-65-5 65 200 5 5 1/80 1/40 10/13333 10/13333Gamma SI-130-10 130 400 10 10 1/40 1/20 1/800 1/800







4.12.6 CTLCalibrationSpecificationsTable 4.64— Gamma CTL Calibrations1, 2


Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Gamma US-7.5-25 7.5 25 25 25 1/320 1/160 1/160 1/160Gamma US-15-50 15 50 50 50 1/160 1/80 1/80 1/80Gamma US-30-100 30 100 100 100 1/80 1/40 1/40 1/40


Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Gamma SI-32-2.5 32 100 2.5 2.5 1/80 1/40 1/1000 1/1000Gamma SI-65-5 65 200 5 5 1/40 1/20 5/3333 5/3333Gamma SI-130-10 130 400 10 10 1/20 1/10 1/400 1/400


4.12.7 Analog OutputTable 4.65— Gamma Analog Output


Fx,Fy (lbf)

Fz2 (lbf)

Tx,Ty,Tz (lbf-in)

Fx,Fy (lbf/V)

Fz2 (lbf/V)

Tx,Ty,Tz (lbf-in/V)

Gamma US-7.5-25 ±7.5 ±25 ±25 0.75 2.5 2.5Gamma US-15-50 ±15 ±50 ±50 1.5 5 5Gamma US-30-100 ±30 ±100 ±100 3 10 10


Fx,Fy (N)

Fz2 (N)

Tx,Ty,Tz (Nmm)

Fx,Fy (N/V)

Fz2 (N/V)

Tx,Ty,Tz (Nm/V)

Gamma SI-32-2.5 ±32 ±100 ±2.5 3.2 10 0.25Gamma SI-65-5 ±65 ±200 ±5 6.5 20 0.5Gamma SI-130-10 ±130 ±400 ±10 13 40 1









Tx,Ty,Tz (/lbf-in)

Fx,Fy,Fz (/N)

Tx,Ty,Tz (/Nm)

Gamma US-7.5–25/SI-32–2.5 2560 2560 640 8000Gamma US-15–50/SI-65–5 1280 1280 320 5333.33Gamma US-30–100/SI-130–10 640 640 160 3200Gamma Tool Transform Factor See Tool Transform Factor table


4.12.9 Tool Transform FactorTable 4.67—Tool Transform Factor

Sensor Calibration US(English) SI(Metric)Gamma US-7.5–25/SI-32–2.5 0.01 in/lbf 0.8 mm/NGamma US-15–50/SI-65–5 0.01 in/lbf 0.6 mm/NGamma US-30–100/SI-130–10 0.01 in/lbf 0.y h5 mm/N

.





4.12.10 Gamma(USCalibrationComplexLoading)(IncludesIP60/IP65/IP68)1

HelpGamma

US-7.5-25 US-15-50 US-30-100






4.12.11 Gamma(SICalibrationComplexLoading)(IncludesIP60/IP65/IP68)1

HelpGamma

SI-32-2.5 SI-65-5 SI-130-10






4.12.12 GammaDAQ/NetTransducerDrawing

25.5

DAQ

Sys

tem

54.8

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tem

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tem

58.3

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MO

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mou

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Rem

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plat

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to m

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sup

port

load

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lect

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Rev.

Des

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Dat

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4.12.13 9105-T-Gamma Transducer without Mounting Adapter Drawing

21

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Tran

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Dat

e

07Ec

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4.12.14 Gamma Mounting Adapter Plate Drawing

3rd

AN

GLE

PRO

JEC

TION

M3

x 8

SFH

CS,

Gra

de 1

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ma

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Tran

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ing

Adap

ter

ISO

MET

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VIE

WSC

ALE

2:3

Not

es: Mat

eria

l: H

igh-

Tens

ile A

lum

inum

1.M

ount

ing

Adap

ter:

Cus

tom

er to

mac

hine

pla

te a

s re

quire

d fo

r mou

ntin

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Supp

lied

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Dat

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4.12.16 Gamma IP65 Transducer Drawing

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Not

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Fra

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Do

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Cab

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Rev.

Des

crip

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ISO

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IP65

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fo@ati

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mFa

x: +1

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72.82

59

www

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IP65

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t

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nnec

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Em

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fo@ati

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x: +1

.919.7

72.82

59

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ISO

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Reg

ister

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ompa

ny

IP68

Gam

ma

Tran

sduc

er





4.13 DeltaSpecifications(IncludesIP60/IP65/IP68Versions)4.13.1 Delta Physical Properties

Table4.68—Delta Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±840 lbf ±3700 NFz ±2300 lbf ±10000 NTxy ±2500 inf-lb ±280 NmTz ±3600 inf-lb ±400 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 2.0x105 lb/in 3.6x107 N/m Z-axisforce(Kz) 3.4x105 lb/in 5.9x107 N/m X-axis&Y-axistorque(Ktx,Kty) 4.6x105 lbf-in/rad 5.2x104 Nm/rad Z-axistorque(Ktz) 8.1x105 lbf-in/rad 9.1x104 Nm/rad Resonant Frequency Fx, Fy, Tz 1500 Hz 1500 HzFz, Tx, Ty 1700 Hz 1700 HzPhysicalSpecifications Weight1 2.01 lb 0.913 kgDiameter1 3.72 in 94.5 mmHeight1 1.31 in 33.3 mmNote: 1.Specificationsincludestandardinterfaceplates.

4.13.2 Delta IP60 Physical PropertiesTable 4.69—Delta IP60 Physical Properties

Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±840 lbf ±3700 NFz ±2300 lbf ±10000 NTxy ±2500 inf-lb ±280 NmTz ±3600 inf-lb ±400 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 2.0x105 lb/in 3.6x107 N/m Z-axisforce(Kz) 3.4x105 lb/in 5.9x107 N/m X-axis&Y-axistorque(Ktx,Kty) 4.6x105 lbf-in/rad 5.2x104 Nm/rad Z-axistorque(Ktz) 8.1x105 lbf-in/rad 9.1x104 Nm/rad Resonant Frequency Fx, Fy, Tz 1100 Hz 1100 HzFz, Tx, Ty 1100 Hz 1100 HzPhysicalSpecifications Weight1 4 lb 1.81 kgDiameter1 4.6 in 117 mmHeight1 1.85 in 47.1 mmNote: 1.Specificationsincludestandardinterfaceplates.





4.13.3 Delta IP65 Physical PropertiesTable 4.70—Delta IP65 Physical Properties


4.13.4 DeltaIP68PhysicalPropertiesTable 4.71—DeltaIP68PhysicalProperties

Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±840 lbf ±3700 NFz ±2300 lbf ±10000 NTxy ±2500 inf-lb ±280 NmTz ±3600 inf-lb ±400 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 2.0x105 lb/in 3.6x107 N/m Z-axisforce(Kz) 3.4x105 lb/in 5.9x107 N/m X-axis&Y-axistorque(Ktx,Kty) 4.6x105 lbf-in/rad 5.2x104 Nm/rad Z-axistorque(Ktz) 8.1x105 lbf-in/rad 9.1x104 Nm/rad Resonant Frequency Fx, Fy, Tz 950 Hz 950 HzFz, Tx, Ty 960 Hz 960 HzPhysicalSpecifications Weight1 5.8 lb 2.63 kgDiameter1 4 in 102 mmHeight1 2.06 in 52.2 mmNote: 1.Specificationsincludestandardinterfaceplates.






Submersion DepthIP68Delta US MetricFz preload at 10 m depth 161 lb 716 NFz preload at other depths -4.9 lb/ft × depthInFeet -72 N/m × depthInMeters


Table 4.72—DeltaCalibrations(excludesCTLcalibrations)1, 2


Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Delta US-50-150 50 150 150 150 1/128 1/64 3/128 1/64Delta US-75-300 75 225 300 300 1/64 1/32 3/64 1/32Delta US-150-600 150 450 600 600 1/32 1/16 3/32 1/16


Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Delta SI-165-15 165 495 15 15 1/32 1/16 1/528 1/528Delta SI-330-30 330 990 30 30 1/16 1/8 5/1333 5/1333Delta SI-660-60 660 1980 60 60 1/8 1/4 10/1333 10/1333








Table 4.73— Delta CTL Calibrations1, 2


Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Delta US-50-150 50 150 150 150 1/64 1/32 3/64 1/32Delta US-75-300 75 225 300 300 1/32 1/16 3/32 1/16Delta US-150-600 150 450 600 600 1/16 1/8 3/16 1/8


Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Delta SI-165-15 165 495 15 15 1/16 1/8 1/264 1/264Delta SI-330-30 330 990 30 30 1/8 1/4 10/1333 10/1333Delta SI-660-60 660 1980 60 60 1/4 1/2 5/333 5/333


4.13.7 Analog OutputTable 4.74— Delta Analog Output


Fx,Fy (lbf)

Fz2 (lbf)

Tx,Ty,Tz (lbf-in)

Fx,Fy (lbf/V)

Fz2 (lbf/V)

Tx,Ty,Tz (lbf-in/V)

Delta US-50-150 ±50 ±150 ±150 5 15 15Delta US-75-300 ±75 ±225 ±300 7.5 22.5 30Delta US-150-600 ±150 ±450 ±600 15 45 60


Fx,Fy (N)

Fz2 (N)

Tx,Ty,Tz (Nmm)

Fx,Fy (N/V)

Fz2 (N/V)

Tx,Ty,Tz (Nm/V)

Delta SI-165-15 ±165 ±495 ±15 16.5 49.5 1.5Delta SI-330-30 ±330 ±990 ±30 33 99 3Delta SI-660-60 ±660 ±1980 ±60 66 198 6





Tx,Ty,Tz (/lbf-in)

Fx,Fy,Fz (/N)

Tx,Ty,Tz (/Nm)

Delta US-7.5–25/SI-32–2.5 512 512 128 2112Delta US-15–50/SI-65–5 256 256 64 1066.67Delta US-30–100/SI-130–10 128 128 32 533.333Delta Tool Transform Factor 0.01 in/lbf 0.6 mm/N






4.13.9 Delta(USCalibrationComplexLoading)(IncludesIP60/IP65/IP68)1

HelpDelta

US-50-150 US-75-300 US-150-600






4.13.10 Delta(SICalibrationComplexLoading)(IncludesIP60/IP65/IP68)1

HelpDelta

SI-165-15 SI-330-30 SI-660-60






4.13.11 DeltaDAQ/NetTransducerDrawing

3rd

AN

GLE

PRO

JEC

TION

63.5

DAQ

Sys

tem

25.4

DAQ

Sys

tem

66.9

Net

Sys

tem

32.8

Net

Sys

tem

30°

Cus

tom

er m

achi

nes

mou

ntin

g pa

ttern

as

need

ed in

pla

te.

Rem

ove

plat

e pr

ior t

o m

achi

ning

.+X -X

-Y+Y

MO

UN

TIN

G S

IDE

Con

nect

or fo

r Cab

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Varie

s D

epen

ding

on

Sens

or S

elec

ted

1.2

1

9.1

94

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73

92

28

28.

6

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3

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Tool

Ada

pter

Plat

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Sens

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Ref

eren

ce

Fram

e O

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terfa

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mer

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Not

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25±

0.02

5

4X T

ap M

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0

5.6

Equa

lly S

pace

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usto

mer

Inte

rface

(See

Not

e 3) B

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50

+X -X

-Y+YSe

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ence

Fr

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Orig

in

TOO

L SI

DE

ISO

MET

RIC

VIE

W

Not

es: Mat

eria

l: H

arde

ned

Stai

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nd A

lum

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.1.

Do

not t

ouch

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rnal

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ctro

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or i

nstru

men

tatio

n.2.

This

cou

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DO

NO

T EX

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TER

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EPTH

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For b

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sduc

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ount

ed to

a s

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gid

4.

eno

ugh

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rt lo

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Dat

e

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ed 6

mm

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; Add

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4.13.12 9105-T-Delta Transducer without Mounting Adapter Drawing

3rd

AN

GLE

PRO

JEC

TION

29.5

18.5

3.8

41.5

00±0

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4.7

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Fram

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MET

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Not

es:

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ater

ial:

Har

dene

d St

ainl

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Stee

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Do

not t

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inte

rnal

ele

ctro

nics

or i

nstru

men

tatio

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his

coul

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dam

age

trans

duce

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will

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war

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Too

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ING

-PLU

G O

ptio

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Orig

in. S

ee

923

0-05

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9 fo

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ition

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DO

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T EX

CEED

INTE

RFAC

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PTH,

MAY

CAU

SE D

AMAG

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For

bes

t acc

urac

y, tr

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ucer

mus

t be

mou

nted

to a

sur

face

rigi

d

eno

ugh

to s

uppo

rt lo

ads

with

out d

efle

ctio

n.

Rev.

Des

crip

tion

Initi

ator

Dat

e

06EC

O 9

037:

Del

ete

over

load

pin

sJW

10/1

1/20

11

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LESS

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DIM

ENSI

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S A

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M

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BY:

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SIZE

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Adap

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Note: Mux transducers are used in F/T Controller systems.





4.13.13 Delta Mounting Adapter Drawing

3rd

AN

GLE

PRO

JEC

TION

6X C

ount

ersi

nk h

oles

for

M5

SFH

CS

Slip

Fit

for

5 D

owel

Pin

74 R

efBo

ss

94.5

4.7

1.3

M5

x 10

SFH

CS,

Gra

de 1

0.9

M5

x 10

,D

owel

Pin

Del

ta M

ount

ing

Adap

ter

Del

ta T

rans

duce

rTr

ansd

ucer

with

Mou

ntin

g Ad

apte

r

ISO

MET

RIC

VIE

WSC

ALE

2:3

Not

es: Mat

eria

l: H

igh-

Tens

ile A

lum

inum

1.Fi

nish

: Sof

t Bla

ck A

nodi

ze2.

Mou

ntin

g Ad

apte

r: C

usto

mer

to m

achi

ne p

late

as

requ

ired

for m

ount

ing.

3.Su

pplie

d w

ith (6

) M5

x 10

SFH

CS,

Gra

de 1

0.9

and

(1) M

5 x

10 D

owel

Pin

, D

IN 6

325.

74

Bos

s an

d 5

Dow

el P

in u

sed

for l

ocat

ing

to D

elta

Tra

nsdu

cer.

C L

Rev.

Des

crip

tion

Initi

ator

Dat

e

05Ec

o 10

296;

Upd

ated

Tran

sduc

er B

ody

with

out o

verlo

ad p

ins.

CF

10/2

6/20

12

B1:

11

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VISIO

N

NO

TES:

UN

LESS

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ERW

ISE

SPEC

IFIED

.

DO

NO

T SC

ALE

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WIN

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ALL

DIM

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ON

S A

RE IN

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ETER

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DRA

WN

BY:

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CKE

D B

Y:

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leso

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/19/

2009

P. F

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, 6/2

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SIZE

DRA

WIN

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R

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JEC

T #SH

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F 92

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6305

PRO

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ter





4.13.14 Delta IP60 Transducer Drawing

3rd

AN

GLE

PRO

JEC

TION

B.C

. 63

84.7

2X

6 Sl

ip F

it 6.

35C

usto

mer

Inte

rface

120°

117

45°

31.5

00±0

.025

47.2

50±0

.025

27.2

80±0

.025

B.C

. 10

6.7

45°

Side

Pat

tern

Opt

iona

l Mou

ntin

g C

usto

mer

Inte

rface

Equa

lly S

pace

dFo

r M6

SHC

S4X

6

.7 T

hru

58.4

MU

X &

DAQ

Syst

em

67.2

Net

Sys

tem

Not

es:

1. M

ater

ial:

Stai

nles

s St

eel a

nd A

lum

inum

2. S

ensi

ng R

efer

ence

Fra

me

Orig

in a

t Sur

face

Cen

ter o

f Too

l Ada

pter

.3.

Do

not d

isas

sem

ble

trans

duce

r. D

oing

so

coul

d da

mag

e tra

nsdu

cer

a

nd w

ill vo

id w

arra

nty.

4. F

or b

est a

ccur

acy,

tran

sduc

er m

ust b

e m

ount

ed to

a s

urfa

ce ri

gid

e

noug

h to

sup

port

load

s w

ithou

t def

lect

ion.

4X T

ap M

6 X

1.0

7.6

Equa

lly S

pace

dC

usto

mer

Inte

rface

+X

-Y+Y

-X

-Z

MO

UN

TIN

G S

IDE

+Y-Y

+X -X

Con

nect

or F

or C

able

Varie

s D

epen

ding

on

Sens

or S

elec

ted

45.2

11.4

47.

1 M

ount

ing

Adap

ter P

late

Sens

ing

Ref

eren

ceFr

ame

Orig

in

Neo

pren

eR

ubbe

r D

ust J

acke

t

SID

E VI

EW

+Z

Tool

Ada

pter

Plat

e

94.6

6 Sl

ip F

it10

Cus

tom

er In

terfa

ce

25±

0.02

5

4X T

ap M

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010

Equa

lly S

pace

dC

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mer

Inte

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16 H

7,

6C

ham

fer 1

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Inte

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B.C

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Se

nsin

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Fram

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SID

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ISO

MET

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Rev.

Des

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Initi

ator

Dat

e

06Ec

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391;

Dim

47.

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6.7

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issue

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SPEC

IFIED

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DO

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-

TITLE SC

ALE

SIZE

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PRO

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Tel: +

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ail: in

fo@ati

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mFa

x: +1

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fo@ati

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72.82

59

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4.14 ThetaSpecifications(IncludesIP60/IP65/IP68Versions)4.14.1 Theta Physical Properties

Table 4.76—Theta Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±4500 lbf ±20000 NFz ±11000 lbf ±51000 NTxy ±18000 inf-lb ±2000 NmTz ±18000 inf-lb ±2000 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.0x105 lb/in 7.1x107 N/m Z-axisforce(Kz) 6.9x105 lb/in 1.2x108 N/m X-axis&Y-axistorque(Ktx,Kty) 3.0x106 lbf-in/rad 3.4x105 Nm/rad Z-axistorque(Ktz) 4.7x106 lbf-in/rad 5.3x105 Nm/rad Resonant Frequency Fx, Fy, Tz 680 Hz 680 HzFz, Tx, Ty 820 Hz 820 HzPhysicalSpecifications Weight1 11 lb 4.99 kgDiameter1 6.1 in 155 mmHeight1 2.41 in 61.1 mmNote: 1.Specificationsincludestandardinterfaceplates.

4.14.2 Theta IP60 Physical PropertiesTable 4.77—Theta IP60 Physical Properties

Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±4500 lbf ±20000 NFz ±11000 lbf ±51000 NTxy ±18000 inf-lb ±2000 NmTz ±18000 inf-lb ±2000 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.0x105 lb/in 7.1x107 N/m Z-axisforce(Kz) 6.9x105 lb/in 1.2x108 N/m X-axis&Y-axistorque(Ktx,Kty) 3.0x106 lbf-in/rad 3.4x105 Nm/rad Z-axistorque(Ktz) 4.7x106 lbf-in/rad 5.3x105 Nm/rad Resonant Frequency Fx, Fy, Tz N/A N/AFz, Tx, Ty N/A N/APhysicalSpecifications Weight1 19 lb 8.62 kgDiameter1 7.63 in 194 mmHeight1 2.91 in 74 mmNote: 1.Specificationsincludestandardinterfaceplates.





4.14.3 ThetaIP65/IP68PhysicalPropertiesTable4.78—ThetaIP65/IP68PhysicalProperties

Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±4500 lbf ±20000 NFz ±11000 lbf ±51000 NTxy ±18000 inf-lb ±2000 NmTz ±18000 inf-lb ±2000 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.0x105 lb/in 7.1x107 N/m Z-axisforce(Kz) 6.9x105 lb/in 1.2x108 N/m X-axis&Y-axistorque(Ktx,Kty) 3.0x106 lbf-in/rad 3.4x105 Nm/rad Z-axistorque(Ktz) 4.7x106 lbf-in/rad 5.3x105 Nm/rad Resonant Frequency Fx, Fy, Tz N/A N/AFz, Tx, Ty N/A N/APhysicalSpecifications Weight1 19.8 lb 9 kgDiameter1 6.41 in 163 mmHeight1 2.95 in 74.8 mmNote: 1.Specificationsincludestandardinterfaceplates.


Submersion DepthIP68Theta US MetricFz preload at 10 m depth 429 lb 1907 NFz preload at other depths -13 lb/ft × depthInFeet -191 N/m × depthInMeters






Table 4.79—ThetaCalibrations(excludesCTLcalibrations)1, 2


Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Theta US-200-1000 200 500 1000 1000 1/32 1/16 1/8 1/8Theta US-300-1800 300 875 1800 1800 5/68 5/34 5/16 5/16Theta US-600-3600 600 1500 3600 3600 1/8 1/4 1/2 1/2


Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Theta SI-1000-120 1000 2500 120 120 1/4 1/4 1/40 1/80Theta SI-1500-240 1500 3750 240 240 1/2 1/2 1/20 1/40Theta SI-2500-400 2500 6250 400 400 1/2 1 1/20 1/20




Table4.80— Theta CTL Calibrations1, 2


Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Theta US-200-1000 200 500 1000 1000 1/16 1/8 1/4 1/4Theta US-300-1800 300 875 1800 1800 5/34 5/17 5/8 5/8Theta US-600-3600 600 1500 3600 3600 1/4 1/2 1 1


Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Theta SI-1000-120 1000 2500 120 120 1/2 1/2 1/20 1/40Theta SI-1500-240 1500 3750 240 240 1 1 1/10 1/20Theta SI-2500-400 2500 6250 400 400 1 2 1/10 1/10







Table4.81— Theta Analog Output


Fx,Fy (lbf)

Fz2 (lbf)

Tx,Ty,Tz (lbf-in)

Fx,Fy (lbf/V)

Fz2 (lbf/V)

Tx,Ty,Tz (lbf-in/V)

Theta US-200-1000 ±200 ±500 ±1000 20 50 100Theta US-300-1800 ±300 ±875 ±1800 30 87.5 180Theta US-600-3600 ±600 ±1500 ±3600 60 150 360


Fx,Fy (N)

Fz2 (N)

Tx,Ty,Tz (Nmm)

Fx,Fy (N/V)

Fz2 (N/V)

Tx,Ty,Tz (Nm/V)

Theta SI-1000-120 ±1000 ±2500 ±120 100 250 12Theta SI-1500-240 ±1500 ±3750 ±240 150 375 24Theta SI-2500-400 ±2500 ±6250 ±400 250 625 40





Tx,Ty,Tz (/lbf-in)

Fx,Fy,Fz (/N)

Tx,Ty,Tz (/Nm)

Theta US-200–1000/SI-1000–120 128 64 32 320Theta US-300–1800/SI-1500–240 54.4 12.8 16 160Theta US-600–3600/SI-2500–400 32 16 16 80Theta Tool Transform Factor See Tool Transform Factor table



Table4.83—Tool Transform FactorSensor Calibration US(English) SI(Metric)Theta US-200–1000/SI-1000–120 0.02 in/lbf 1 mm/NTheta US-300–1800/SI-1500–240 0.0425 in/lbf 1 mm/NTheta US-600–3600/SI-2500–400 0.02 in/lbf 2 mm/N





4.14.9 Theta(USCalibrationComplexLoading)(IncludesIP60/IP65/IP68)1

HelpTheta

US-200-1000 US-300-1800 US-600-3600






4.14.10 Theta(SICalibrationComplexLoading)(IncludesIP60/IP65/IP68)1

HelpTheta

SI-1000-120 SI-1500-240 SI-2500-400






4.14.11 ThetaDAQ/NetTransducerDrawing

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4.14.13 Theta Mounting Adapter Plate Drawing

3rd

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4.14.14 Theta IP60 Transducer Drawing

124

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5

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57.8

Mux

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+X

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or C

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Thi

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4.15 Omega85Specifications(IncludesIP60/IP65/IP68Versions)4.15.1 Omega85PhysicalProperties

Table4.84—Omega85PhysicalPropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±2800 lbf ±13000 NFz ±6100 lbf ±27000 NTxy ±4400 inf-lb ±500 NmTz ±5400 inf-lb ±610 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.4x105 lb/in 7.7x107 N/m Z-axisforce(Kz) 6.8x105 lb/in 1.2x108 N/m X-axis&Y-axistorque(Ktx,Kty) 7.2x105 lbf-in/rad 8.1x104 Nm/rad Z-axistorque(Ktz) 1.2x106 lbf-in/rad 1.3x105 Nm/rad Resonant Frequency Fx, Fy, Tz 2100 Hz 2100 HzFz, Tx, Ty 3000 Hz 3000 HzPhysicalSpecifications Weight1 1.45 lb 0.658 kgDiameter1 3.35 in 85.1 mmHeight1 1.32 in 33.4 mmNote: 1.Specificationsincludestandardinterfaceplates.

4.15.2 Omega85IP65/IP68PhysicalPropertiesTable4.85—Omega85IP65/IP68PhysicalProperties

Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±2800 lbf ±13000 NFz ±6100 lbf ±27000 NTxy ±4400 inf-lb ±500 NmTz ±5400 inf-lb ±610 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.4x105 lb/in 7.7x107 N/m Z-axisforce(Kz) 6.8x105 lb/in 1.2x108 N/m X-axis&Y-axistorque(Ktx,Kty) 7.2x105 lbf-in/rad 8.1x104 Nm/rad Z-axistorque(Ktz) 1.2x106 lbf-in/rad 1.3x105 Nm/rad Resonant Frequency Fx, Fy, Tz N/A N/AFz, Tx, Ty N/A N/APhysicalSpecifications Weight1 4.2 lb 1.91 kgDiameter1 3.65 in 92.7 mmHeight1 1.52 in 38.7 mmNote: 1.Specificationsincludestandardinterfaceplates.






Submersion DepthIP68Omega85 US MetricFz preload at 10 m depth 128 lb 570 NFz preload at other depths -3.9 lb/ft × depthInFeet -57 N/m × depthInMeters


Table4.86—Omega85Calibrations(excludesCTLcalibrations)1, 2


Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Omega85 US-105-185 105 210 185 185 1/52 3/130 3/112 1/48Omega85 US-210-370 210 420 370 370 5/128 3/64 3/56 1/24Omega85 US-420-740 420 840 740 740 5/64 3/32 3/28 1/12


Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Omega85 SI-475-20 475 950 20 20 1/14 3/28 5/1496 7/2992Omega85 SI-950-40 950 1900 40 40 1/7 3/14 5/748 7/1496Omega85 SI-1900-80 1900 3800 80 80 2/7 3/7 5/374 7/748



NOTICE: The Omega85 does not support an on-board mux board, therefore it cannot be used with the F/T Controller. For Controller F/T systems we recommend the Mini85.





4.15.4 Omega85(USCalibrationComplexLoading)(IncludesIP65/IP68)1

HelpOmega85

US-105-185 US-210-370 US-420-740






4.15.5 Omega85(SICalibrationComplexLoading)(IncludesIP65/IP68)1

HelpOmega85

SI-475-20 SI-950-40 SI-1900-80






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4.16 Omega160Specifications(IncludesIP60/IP65/IP68Versions)4.16.1 Omega160 Physical Properties

Table4.87—Omega160 Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±3900 lbf ±18000 NFz ±11000 lbf ±48000 NTxy ±15000 inf-lb ±1700 NmTz ±17000 inf-lb ±1900 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.0x105 lb/in 7.0x107 N/m Z-axisforce(Kz) 6.8x105 lb/in 1.2x108 N/m X-axis&Y-axistorque(Ktx,Kty) 2.9x106 lbf-in/rad 3.3x105 Nm/rad Z-axistorque(Ktz) 4.6x106 lbf-in/rad 5.2x105 Nm/rad Resonant Frequency Fx, Fy, Tz 1300 Hz 1300 HzFz, Tx, Ty 1000 Hz 1000 HzPhysicalSpecifications Weight1 6 lb 2.72 kgDiameter1 6.16 in 157 mmHeight1 2.2 in 55.9 mmNote: 1.Specificationsincludestandardinterfaceplates.

4.16.2 Omega160IP160PhysicalProperties(IncludesECAT)Table4.88—Omega160 IP160 Physical Properties






4.16.3 Omega160IP65/IP68PhysicalPropertiesTable4.89—Omega160IP65/IP68PhysicalProperties



Submersion DepthIP68Omega160 US MetricFz preload at 10 m depth 429 lb 1907 NFz preload at other depths -13 lb/ft × depthInFeet -191 N/m × depthInMeters






Table 4.90—Omega160Calibrations(excludesCTLcalibrations)1, 2


Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Omega160 US-200-1000 200 500 1000 1000 1/32 1/16 1/8 1/8Omega160 US-300-1800 300 875 1800 1800 5/68 5/34 5/16 5/16Omega160 US-600-3600 600 1500 3600 3600 1/8 1/4 1/2 1/4


Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Omega160 SI-1000-120 1000 2500 120 120 1/4 1/4 1/40 1/80Omega160 SI-1500-240 1500 3750 240 240 1/4 1/2 1/20 1/40Omega160 SI-2500-400 2500 6250 400 400 1/2 3/4 1/20 1/20




Table 4.91— Omega160 CTL Calibrations1, 2


Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Omega160 US-200-1000 200 500 1000 1000 1/16 1/8 1/4 1/4Omega160 US-300-1800 300 875 1800 1800 5/34 5/17 5/8 5/8Omega160 US-600-3600 600 1500 3600 3600 1/4 1/2 1 1/2


Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Omega160 SI-1000-120 1000 2500 120 120 1/2 1/2 1/20 1/40Omega160 SI-1500-240 1500 3750 240 240 1/2 1 1/10 1/20Omega160 SI-2500-400 2500 6250 400 400 1 1 1/2 1/10 1/10







Table 4.92— Omega160 Analog Output


Fx,Fy (lbf)

Fz2 (lbf)

Tx,Ty,Tz (lbf-in)

Fx,Fy (lbf/V)

Fz2 (lbf/V)

Tx,Ty,Tz (lbf-in/V)

Omega160 US-200-1000 ±200 ±500 ±1000 20 50 100Omega160 US-300-1800 ±300 ±875 ±1800 30 87.5 180Omega160 US-600-3600 ±600 ±1500 ±3600 60 150 360


Fx,Fy (N)

Fz (N)

Tx,Ty,Tz (Nmm)

Fx,Fy (N/V)

Fz2 (N/V)

Tx,Ty,Tz (Nm/V)

Omega160 SI-1000-120 ±1000 ±2500 ±120 100 250 12Omega160 SI-1500-240 ±1500 ±3750 ±240 150 375 24Omega160 SI-2500-400 ±2500 ±6250 ±400 250 625 40





Tx,Ty,Tz (/lbf-in)

Fx,Fy,Fz (/N)

Tx,Ty,Tz (/Nm)

Omega160 US-200–1000/SI-1000–120 128 64 32 320Omega160 US-300–1800/SI-1500–240 54.4 12.8 16 160Omega160 US-600–3600/SI-2500–400 32 16 16 80Omega160 Tool Transform Factor See Tool Transform Factor table



Table 4.94—Tool Transform FactorSensor Calibration US(English) SI(Metric)

Omega160 US-200–1000/SI-1000–120 0.02 in/lbf 1 mm/NOmega160 US-300–1800/SI-1500–240 0.0425 in/lbf 1 mm/NOmega160 US-600–3600/SI-2500–400 0.02 in/lbf 2 mm/N





4.16.9 Omega160(USCalibrationComplexLoading) (IncludesIP60/IP65/IP68)1

HelpOmega160

US-200-1000 US-300-1800 US-600-3600






4.16.10 Omega160(SICalibrationComplexLoading) (IncludesIP60/IP65/IP68)1

HelpOmega160

SI-1000-120 SI-1500-240 SI-2500-400






4.16.11 Omega160 Transducer without Mounting Adapter Drawing

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4.16.12 Omega160Transducerwith53mmThroughHole

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4.16.13 Omega160 Transducer with Mounting Adapter Drawing

3rd

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96D

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4.17 Omega190Specifications(IncludesIP60/IP65/IP68Versions)4.17.1 Omega190 Physical Properties

Table 4.95—Omega190 Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±8000 lbf ±36000 NFz ±25000 lbf ±110000 NTxy ±60000 lbf-in ±6800 NmTz ±60000 lbf-in ±6800 NmStiffness(Calculated)X-axis&Y-axisforces(Kx,Ky) 1.4x106 lb/in 2.4x108 N/mZ-axisforce(Kz) 2.1x106 lb/in 3.6x108 N/mX-axis&Y-axistorque(Ktx,Kty) 1.4x107 lbf-in/rad 1.5x106 Nm/radZ-axistorque(Ktz) 2.8x107 lbf-in/rad 3.2x106 Nm/radResonant FrequencyFx, Fy, Tz N/A N/AFz, Tx, Ty N/A N/A PhysicalSpecificationsWeight1 14 lb 6.35 kg

Diameter1 7.48 in 190 mm

Height1 2.2 in 55.9 mmNote: 1. Specifications include standard interface plates.

4.17.2 Omega190 IP60 Physical PropertiesTable 4.96—Omega190 IP60 Physical Properties

Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±8000 lbf ±36000 NFz ±25000 lbf ±110000 NTxy ±60000 lbf-in ±6800 NmTz ±60000 lbf-in ±6800 NmStiffness(Calculated)X-axis&Y-axisforces(Kx,Ky) 1.4x106 lb/in 2.4x108 N/mZ-axisforce(Kz) 2.1x106 lb/in 3.6x108 N/mX-axis&Y-axistorque(Ktx,Kty) 1.4x107 lbf-in/rad 1.5x106 Nm/radZ-axistorque(Ktz) 2.8x107 lbf-in/rad 3.2x106 Nm/radResonant FrequencyFx, Fy, Tz 1200 Hz 1200 HzFz, Tx, Ty 1200 Hz 1200 HzPhysicalSpecificationsWeight1 31 lb 14.1 kg


Height1 2.9 in 73.7 mmNote: 1. Specifications include standard interface plates.





4.17.3 Omega190IP65/IP68PhysicalPropertiesTable 4.97—Omega190IP65/IP68PhysicalProperties

Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±8000 lbf ±36000 NFz ±25000 lbf ±110000 NTxy ±60000 lbf-in ±6800 NmTz ±60000 lbf-in ±6800Nm)Stiffness(Calculated)X-axis&Y-axisforces(Kx,Ky) 1.4x106 lb/in 2.4x108N/m)Z-axisforce(Kz) 2.1x106 lb/in 3.6x108 N/mX-axis&Y-axistorque(Ktx,Kty) 1.4x107 lbf-in/rad 1.5x106 Nm/radZ-axistorque(Ktz) 2.8x107 lbf-in/rad 3.2x106 Nm/radResonant FrequencyFx, Fy, Tz 1400 Hz 1400 HzFz, Tx, Ty 980 Hz 980 HzPhysicalSpecificationsWeight1 29 lb 13.2 kg


Height1 2.94 in 74.8 mm

Note: 1. Specifications include standard interface plates.








Table4.98—Omega190Calibrations(excludesCTLcalibrations)1, 2


Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Omega190 US-400-3000 400 1000 3000 3000 5/64 5/32 15/32 5/16Omega190 US-800-6000 800 2000 6000 6000 5/32 5/16 15/16 5/8Omega190 US-1600-12000 1600 4000 12000 12000 5/16 5/8 1 7/8 1 1/4


Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Omega190 SI-1800-350 1800 4500 350 350 3/8 3/4 5/96 5/144Omega190 SI-3600-700 3600 9000 700 700 3/4 1 1/2 5/48 5/72Omega190 SI-7200-1400 7200 18000 1400 1400 1 1/2 3 5/24 5/36






Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Omega190 US-400-3000 400 1000 3000 3000 5/32 5/16 15/16 5/8Omega190 US-800-6000 800 2000 6000 6000 5/16 5/8 1 7/8 1 1/4Omega190 US-1600-12000 1600 4000 12000 12000 5/8 1 1/4 3 3/4 2 1/2


Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Omega190 SI-1800-350 1800 4500 350 350 3/4 1 1/2 5/48 5/72Omega190 SI-3600-700 3600 9000 700 700 1 1/2 3 5/24 5/36Omega190 SI-7200-1400 7200 18000 1400 1400 3 6 5/12 5/18






4.17.6 Analog OutputTable 4.100— Omega190 Analog Output


Fx,Fy (lbf)

Fz2 (lbf)

Tx,Ty,Tz (lbf-in)

Fx,Fy (lbf/V)

Fz2 (lbf/V)

Tx,Ty,Tz (lbf-in/V)

Omega190 US-400-3000 ±400 ±1000 ±3000 40 100 300Omega190 US-800-6000 ±800 ±2000 ±6000 80 200 600Omega190 US-1600-12000 ±1600 ±4000 ±12000 160 400 1200


Fx,Fy (N)

Fz2 (N)

Tx,Ty,Tz (Nmm)

Fx,Fy (N/V)

Fz2 (N/V)

Tx,Ty,Tz (Nm/V)




4.17.7 CountsValue



Tx,Ty,Tz (/lbf-in)

Fx,Fy,Fz (/N)

Tx,Ty,Tz (/Nm)

Omega190 US-400-3000/SI-1800-350 153.6 307.2 32 230.4Omega190 US-800-6000/SI-3600-700 76.8 153.6 16 115.2Omega190 US-1600-12000/SI-7200-1400 38.4 76.8 8 57.6Omega190 Tool Transform Factor 0.005 in/lbf 1.3889 mm/N







US-400-3000 US-800-6000 US-1600-12000







SI-1800-350 SI-3600-700 SI-7200-1400






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4.18Omega191Specifications(IncludesIP60/IP65/IP68Versions)4.18.1 Omega191 Physical Properties

Table 4.102—Omega191 Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±8000 lbf ±36000 NFz ±25000 lbf ±110000 NTxy ±60000 inf-lb ±6800 NmTz ±60000 inf-lb ±6800 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 1.4x106 lb/in 2.4x108 N/m Z-axisforce(Kz) 2.1x106 lb/in 3.6x108 N/m X-axis&Y-axistorque(Ktx,Kty) 1.4x107 lbf-in/rad 1.5x106 Nm/rad Z-axistorque(Ktz) 2.8x107 lbf-in/rad 3.2x106 Nm/rad Resonant Frequency Fx, Fy, Tz N/A N/AFz, Tx, Ty N/A N/APhysicalSpecifications Weight1 20.8 lb 9.41 kgDiameter1 7.48 in 190 mmHeight1 2.52 in 64 mmNote: 1.Specificationsincludestandardinterfaceplates.

4.18.2 Omega191 IP60 Physical PropertiesTable 4.103—Omega191 IP60 Physical Properties






4.18.3 Omega191IP65/IP68PhysicalPropertiesTable 4.104—Omega191IP65/IP68PhysicalProperties











Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Omega191 US-400-3000 400 1000 3000 3000 5/64 5/32 15/32 5/16Omega191 US-800-6000 800 2000 6000 6000 5/32 5/16 15/16 5/8Omega191 US-1600-12000 1600 4000 12000 12000 5/16 5/8 1 7/8 1 1/4


Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Omega191 SI-1800-350 1800 4500 350 350 3/8 3/4 5/96 5/144Omega191 SI-3600-700 3600 9000 700 700 3/4 1 1/2 5/48 5/72Omega191 SI-7200-1400 7200 18000 1400 1400 1 1/2 3 5/24 5/36






Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Omega191 US-400-3000 400 1000 3000 3000 5/32 5/16 15/16 5/8Omega191 US-800-6000 800 2000 6000 6000 5/16 5/8 1 7/8 1 1/4Omega191 US-1600-12000 1600 4000 12000 12000 5/8 1 1/4 3 3/4 2 1/2


Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Omega191 SI-1800-350 1800 4500 350 350 3/4 1 1/2 5/48 5/72Omega191 SI-3600-700 3600 9000 700 700 1 1/2 3 5/24 5/36Omega191 SI-7200-1400 7200 18000 1400 1400 3 6 5/12 5/18









Fx,Fy (lbf)

Fz2 (lbf)

Tx,Ty,Tz (lbf-in)

Fx,Fy (lbf/V)

Fz2 (lbf/V)

Tx,Ty,Tz (lbf-in/V)



Fx,Fy (N)

Fz2 (N)

Tx,Ty,Tz (Nmm)

Fx,Fy (N/V)

Fz2 (N/V)

Tx,Ty,Tz (Nm/V)




4.18.7 CountsValue

Table4.108—CountsValue


Tx,Ty,Tz (/lbf-in)

Fx,Fy,Fz (/N)

Tx,Ty,Tz (/Nm)

Omega191 US-400-3000/SI-1800-350 153.6 307.2 32 230.4Omega191 US-800-6000/SI-3600-700 76.8 153.6 16 115.2Omega191 US-1600-12000/SI-7200-1400 38.4 76.8 8 57.6Omega191 Tool Transform Factor 0.005 in/lbf 1.3889 mm/N







HelpOmega191

US-400-3000 US-800-6000 US-1600-12000







HelpOmega191

SI-1800-350 SI-3600-700 SI-7200-1400






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4.19 Omega250Specifications(IncludesIP60/IP65/IP68)4.19.1 Omega250PhysicalProperties(IncludesIP60/IP65/IP68)

Table 4.109—Omega250PhysicalProperties(IncludesIP60/IP65/IP68)Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±37000 lbf ±160000 NFz ±74000 lbf ±330000 NTxy ±180000 inf-lb ±21000 NmTz ±220000 inf-lb ±25000 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 2.4x106 lb/in 4.2x108 N/m Z-axisforce(Kz) 3.2x106 lb/in 5.6x108 N/m X-axis&Y-axistorque(Ktx,Kty) 2.7x107 lbf-in/rad 3.0x106 Nm/rad Z-axistorque(Ktz) 5.5x107 lbf-in/rad 6.2x106 Nm/rad Resonant Frequency Fx, Fy, Tz 780 Hz 780 HzFz, Tx, Ty 770 Hz 770 HzPhysicalSpecifications Weight1 70 lb 31.8 kgDiameter1 11.6 in 295 mmHeight1 3.74 in 94.9 mmNote: 1.Specificationsincludestandardinterfaceplates.


Submersion DepthIP68Omega250 US MetricFz preload at 10 m depth -1138 lb -5061 NFz preload at other depths -35 lb/ft × depthInFeet -506 N/m × depthInMeters








Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Omega250 US-900-4500 900 1800 4500 4500 1/2 1/2 1 1 Omega250 US-1800-9000 1800 3600 9000 9000 1 1 2 2 Omega250 US-3600-18000 3600 7200 18000 18000 2 2 5 5


Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Omega250 SI-4000-500 4000 8000 500 500 1 2 1/8 1/8Omega250 SI-8000-1000 8000 16000 1000 1000 2 4 1/4 1/4Omega250 SI-16000-2000 16000 32000 2000 2000 4 8 1/2 1/2






Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz3 (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Omega250 US-900-4500 900 1800 4500 4500 1 1 2 2 Omega250 US-1800-9000 1800 3600 9000 9000 2 2 5 5 Omega250 US-3600-18000 3600 7200 18000 18000 5 5 10 10


Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Fx,Fy (N)

Fz3 (N)

Tx,Ty (Nm)

Tz (Nm)

Omega250 SI-4000-500 4000 8000 500 500 2 4 1/4 1/4Omega250 SI-8000-1000 8000 16000 1000 1000 4 8 1/2 1/2Omega250 SI-16000-2000 16000 32000 2000 2000 8 16 1 1









Fx,Fy (lbf)

Fz2 (lbf)

Tx,Ty,Tz (lbf-in)

Fx,Fy (lbf/V)

Fz2 (lbf/V)

Tx,Ty,Tz (lbf-in/V)



Fx,Fy (N)

Fz2 (N)

Tx,Ty,Tz (Nmm)

Fx,Fy (N/V)

Fz2 (N/V)

Tx,Ty,Tz (Nm/V)






Tx,Ty,Tz (/lbf-in)

Fx,Fy,Fz (/N)

Tx,Ty,Tz (/Nm)

Omega250 US-900–4500/SI-4000–500 8 4 4000 32000Omega250 US-1800–9000/SI-8000–1000 4 2 2000 16000Omega250 US-3600–18000/SI-16000-2000 2 1 1000 8000Omega250 Tool Transform Factor 0.02 in/lbf 1.25 mm/N







HelpOmega250 IP60/IP65/IP68

US-900-4500 US-1800-9000 US-3600-18000







HelpOmega250 IP60/IP65/IP68

SI-4000-500 SI-8000-1000 SI-16000-2000







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4.20 Omega331Specifications(IncludesIP65)4.20.1 Omega331PhysicalProperties(IncludesIP65)

Table 4.114—Omega331PhysicalProperties(IncludesIP60/IP65)Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±53000 lbf ±240000 NFz ±120000 lbf ±520000 NTxy ±280000 inf-lb ±32000 NmTz ±320000 inf-lb ±36000 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 6.9x106 lb/in 1.2x109 N/m Z-axisforce(Kz) 7.3x106 lb/in 1.3x109 N/m X-axis&Y-axistorque(Ktx,Kty) 8.1x107 lbf-in/rad 9.2x106 Nm/rad Z-axistorque(Ktz) 2.1x108 lbf-in/rad 2.4x107 Nm/rad Resonant Frequency Fx, Fy, Tz N/A N/AFz, Tx, Ty N/A N/APhysicalSpecifications Weight1 104 lb 47 kgDiameter1 13 in 330 mmHeight1 4.22 in 107 mmNote: 1.Specificationsincludestandardinterfaceplates.








Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Omega331 US-2250-13000 2250 5250 13000 13000 3/8 1 3 3/4 1 7/8Omega331 US-4500-26000 4500 10500 26000 26000 3/4 2 7 1/2 3 3/4Omega331 US-9000-52000 9000 21000 52000 52000 1 1/2 4 15 7 1/2


Fx,Fy (kN)

Fz (kN)

Tx,Ty (kNm)

Tz (kNm)

Fx,Fy (kN)

Fz (kN)

Tx,Ty (kNm)

Tz (kNm)

Omega331 SI-10000-1500 10 22 1.5 1.5 1/640 1/240 3/8000 3/16000Omega331 SI-20000-3000 20 44 3 3 1/320 1/120 3/4000 3/8000Omega331 SI-40000-6000 40 88 6 6 1/160 1/60 3/2000 3/4000






Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Fx,Fy (lbf)

Fz (lbf)

Tx,Ty (lbf-in)

Tz (lbf-in)

Omega331 US-2250-13000 2250 5250 13000 13000 3/4 2 7 1/2 3 3/4Omega331 US-4500-26000 4500 10500 26000 26000 1 1/2 4 15 7 1/2Omega331 US-9000-52000 9000 21000 52000 52000 3 8 30 15


Fx,Fy (kN)

Fz (kN)

Tx,Ty (kNm)

Tz (kNm)

Fx,Fy (kN)

Fz (kN)

Tx,Ty (kNm)

Tz (kNm)

Omega331 SI-10000-1500 10 22 1.5 1.5 1/320 1/120 3/4000 3/8000Omega331 SI-20000-3000 20 44 3 3 1/160 1/60 3/2000 3/4000Omega331 SI-40000-6000 40 88 6 6 1/80 1/30 3/1000 3/2000









Fx,Fy (lbf)

Fz (lbf)

Tx,Ty,Tz (lbf-in)

Fx,Fy (lbf/V)

Fz (lbf/V)

Tx,Ty,Tz (lbf-in/V)



Fx,Fy (kN)

Fz (kN)

Tx,Ty,Tz (kNm)

Fx,Fy (kN/V)

Fz (kN/V)

Tx,Ty,Tz (kNm/V)

Omega331 SI-10000-1500 ±10 ±22 ±1.5 1 2.2 0.15Omega331 SI-20000-3000 ±20 ±44 ±3 2 4.4 0.3Omega331 SI-40000-6000 ±40 ±88 ±6 4 8.8 0.6





Tx,Ty,Tz (/lbf-in)

Fx,Fy,Fz (/kN)

Tx,Ty,Tz (/kNm)

Omega331 US-2250–13000/SI-10000–1500 32 6.4 7680 64000Omega331 US-4500–26000/SI-20000–3000 16 3.2 3840 32000Omega331 US-9000–52000/SI-40000–6000 8 1.6 1920 16000Omega331 Tool Transform Factor 0.05 in/lbf 1.2 mm/N






4.20.6 Omega331(USCalibrationComplexLoading)(IncludesIP65)

HelpOmega331

US-2250-13000 US-4500-26000 US-9000-52000





4.20.7 Omega331(SICalibrationComplexLoading)(IncludesIP65)

HelpOmega331

SI-10000-1500 SI-20000-3000 SI-40000-6000





4.20.8 Omega331 Transducer Drawing

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5. Advanced Topics5.1 Reducing Noise

5.1.1 MechanicalVibrationIn many cases, perceived noise is actually a real fluctuation of force and/or torque, caused by vibrations in the tooling or the robot arm. Many F/T systems offer filtering or averaging that can smooth out noise. If this is not sufficient, you may want to add a digital filter to the application software.

5.1.2 Electrical InterferenceCheck the F/T’s ground connections if you observe interference by motors or other noise-generating equipment.Consider using averaging or filtering if sufficient grounding is not possible or does not reduce the noise.

5.2 DetectingFailures(Diagnostics)5.2.1 Detecting Sensitivity Changes

Sensitivity checking of the transducer can also be used to measure the transducer system’s health. This is done by applying known loads to the transducer and verifying the system output matches the known loads. For example, a transducer mounted to a robot arm may have an end-effector attached to it:If the end-effector has moving parts, they must be moved in a known position. Place the robot arm in an orientation that allows the gravity load from the end-effector to exert load on many transducer output axes.Record the output readings.Position the robot arm to apply another load, this time causing the outputs to move far from the earlier readings.Record the second set of output readings.Find the differences from the first and second set of readings and use it as your sensitivity value.Even if the values vary somewhat from sample set to sample set, they can be used to detect gross errors. Either the resolved outputs or the raw transducer voltages may be used (the same must be used for all steps of this process).

CAUTION: When any strain gage is saturated or otherwise inoperable, all transducer F/T readings are invalid. It is vitally important to monitor for these conditions.

5.3 Scheduled Maintenance5.3.1 Periodic Inspection

For most applications, there are no parts that need to be replaced during normal operation. With industrial-type applications that continuously or frequently move the system’s cabling, you should periodically check the cable jacket for signs of wear. These applications should implement the procedures discussed in Section 5.2—Detecting Failures (Diagnostics) to detect any failures.Transducers that are not IP60, IP65, or IP68 rated must be kept free of excessive dust, debris, or moisture. IP60-rated transducers must be kept free of excessive moisture. Debris and dust should be kept from accumulating on or in a transducer.





5.3.2 Periodic CalibrationPeriodic calibration of the transducer and its electronics is required to maintain traceability to national standards. Follow any applicable ISO-9000-type standards for calibration. ATI Industrial Automation recommends annual recalibrations, especially for applications that frequently cycle the loads applied to the transducer.

5.4 Transducer Cabling5.4.1 Calibrations

In many cases the transducer cable comprises part of the calibrated transducer. In these cases, changing the length or type of the cable can affect the calibration. Check with ATI Industrial Automation when making cabling changes to ensure your system’s calibration will not be affected.

5.4.2 Cabling and ConnectorsThe transducer cables and connectors are not designed to be user serviceable. The high flex life stranding used in the cable is difficult to work with and will fail prematurely if improperly assembled.However, there are special cases when customers find it necessary to temporarily remove the connector on a cable that is permanently attached to a transducer (such as found on the Nano and Mini series transducers). When reattaching the wires to the connector, it is vital that each conductor is encased in heat shrink tubing at the connection to prevent premature fatiguing of the mechanical connection. Also, any components contained in the connector must be reconnected exactly as found – failing to do so will impact system performance and accuracy.Damage to the outer jacketing of the transducer cable could enable moisture or water to enter an otherwise sealed transducer. Ensure the cable jacketing is in good condition to prevent transducer damage.

5.5 ResolutionATI’s transducers have a three sensing beam configuration where the three beams are equally spaced around a central hub and attached to the outside wall of the transducer. This design transfers applied loads to multiple sensing beams and allows the transducer to increase its sensing range in a given axis if a counterpart axis has reduced.The resolution of each transducer axis depends on how the applied load is spread among the sensing beams. The best resolution occurs in the scenario when the quantization of the gages is evenly distributed as load is applied. In the worst case scenario, the discrete value of all involved gages increases at the same time. The typical scenario will be somewhere between these two.F/T resolutions are specified as typical resolution, defined as the average of the worst and best case scenarios. Because both multi-gage effects can be modeled as a normal distribution, this value represents the most commonly perceived, average resolution. Although this misrepresents the actual performance of the transducers, it results in a close (and always conservative) estimate.





6. Terms and Conditions of SaleThe following Terms and Conditions are a supplement to and include a portion of ATI’s Standard Terms and Conditions, which are on file at ATI and available upon request.

ATI warrants to Purchaser that force torque sensor products purchased hereunder will be free from defects in material and workmanship under normal use for a period of one year from the date of shipment. This warranty does not cover components subject to wear and tear under normal usage or those requiring periodic replacement. ATI will have no liability under this warranty unless: (a) ATI is given written notice of the claimed defect and a description thereof within thirty (30) days after Purchaser discovers the defect and in any event not later than the last day of the warranty period; and (b) the defective item is received by ATI not later ten (10) days after the last day of the warranty period. ATI’s entire liability and Purchaser’s sole remedy under this warranty is limited to repair or replacement, at ATI’s election, of the defective part or item or, at ATI’s election, refund of the price paid for the item. The foregoing warranty does not apply to any defect or failure resulting from improper installation, operation, maintenance or repair by anyone other than ATI.

ATI will in no event be liable for incidental, consequential or special damages of any kind, even if ATI has been advised of the possibility of such damages. ATI’s aggregate liability will in no event exceed the amount paid by purchaser for the item which is the subject of claim or dispute. ATI will have no liability of any kind for failure of any equipment or other items not supplied by ATI.

No action against ATI, regardless of form, arising out of or in any way connected with products or services supplied hereunder may be brought more than one year after the cause of action accrued.

No representation or agreement varying or extending the warranty and limitation of remedy provisions contained herein is authorized by ATI, and may not be relied upon as having been authorized by ATI, unless in writing and signed by an executive officer of ATI.

Unless otherwise agreed in writing by ATI, all designs, drawings, data, inventions, software and other technology made or developed by ATI in the course of providing products and services hereunder, and all rights therein under any patent, copyright or other law protecting intellectual property, shall be and remain ATI’s property. The sale of products or services hereunder does not convey any express or implied license under any patent, copyright or other intellectual property right owned or controlled by ATI, whether relating to the products sold or any other matter, except for the license expressly granted below.

In the course of supplying products and services hereunder, ATI may provide or disclose to Purchaser confidential and proprietary information of ATI relating to the design, operation or other aspects of ATI’s products. As between ATI and Purchaser, ownership of such information, including without limitation any computer software provided to Purchaser by ATI, shall remain in ATI and such information is licensed to Purchaser only for Purchaser’s use in operating the products supplied by ATI hereunder in Purchaser’s internal business operations.

Without ATI’s prior written permission, Purchaser will not use such information for any other purpose or provide or otherwise make such information available to any third party. Purchaser agrees to take all reasonable precautions to prevent any unauthorized use or disclosure of such information.

Purchaser will not be liable hereunder with respect to disclosure or use of information which: (a) is in the public domain when received from ATI; (b) is thereafter published or otherwise enters the public domain through no fault of Purchaser; (c) is in Purchaser’s possession prior to receipt from ATI; (d) is lawfully obtained by Purchaser from a third party entitled to disclose it; or (f) is required to be disclosed by judicial order or other governmental authority, provided that, with respect to such required disclosures, Purchaser gives ATI prior notice thereof and uses all legally available means to maintain the confidentiality of such information.



six-axis force/torque sensor system section.pdf · 5.5.3 ctl calibration specifications ......

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