Page 1 Wireless F/T Network Force/Torque Sensor System Compilation of Manuals Document #: 9610-05-1031 Engineered Products for Robotic Productivity • • • • • • Pinnacle Park 1031 Goodworth Drive Apex, NC 27539 Tel: +1.919.772.0115 Fax: +1.919.772.8259 www.ati-ia.com Email: info@ati-ia.com...
Page 2 Wireless Force/Torque Sensor System Document #: 9620-05-Wireless FT Engineered Products for Robotic Productivity Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com...
Page 3: Foreword
Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 Foreword Information 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 of ATI Industrial Automation, Inc.
Page 4: Table Of Contents
2.10.6 External Power Indicator ....................13 3. Initial Configuration and Installation of the Wireless F/T System ........14 3.1 Preparing your Wireless F/T for Configuration ................ 14 3.2 Initial Configuration ........................15 The Wireless F/T Java Demo Application ................. 17 3.3.1 Creating a test profile ....................... 17 3.3.2 Connecting to the Wireless F/T ..................19 3.3.3 Data Collection ......................... 21 3.3.3.1...
Page 5 Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 Mounting the Wireless F/T Unit ....................22 3.4.1 Belt Clip Installation ......................22 3.4.2 Fixed Installation ......................22 External Power Adapter Installation ..................22 Installing the Transducer ....................... 23 Command Interface ........................ 24 Communication Interfaces ......................
Page 6 12. Terms and Conditions of Sale ....................56 B.1 Initial Configuration Using a Telnet Program ................59 Introduction ..........................63 C.2 Definitions ............................ 63 Wireless F/T Digital Input Sampling ..................63 Wireless F/T Analog Input Sampling ..................63 Wireless F/T Analog Input Calibration ..................65 C.5.1 Internal Calibration ......................
Page 7: Glossary
DHCP protocol. Internet Protocol version 4 (IPv4) is a standard used for specifying the IPv4 electronic address of an Ethernet device. The Wireless F/T supports only IPv4. Media Access Control Addresses (MAC Addresses) are the unique addresses MAC Address given to every Ethernet device when it is manufactured, to be used as an electronic Ethernet serial number.
Page 8: Safety
1.3 Safety Precautions CAUTION: Do not remove any fasteners or disassemble the Wireless F/T. This will cause irreparable damage to the Wireless F/T and void the warranty. Leave all fasteners in place and do not disassemble the Wireless F/T. ATTENTION: Ne pas retirer les attaches ni démonter le Wireless F/T. Cecicausera des dommages irréparables au Wireless F/T et annulera la garantie.
Page 9: System Overview
The Wireless F/T unit is provided with an external antenna that can be pivoted 90° so the unit can be used in small confined spaces. Fixed mounting is accommodated with the four robust threaded inserts on the back plate of the housing.
Page 10: Three Transducer Wireless F/T
Document #9620-05-Wireless FT-06 2.1 Three Transducer Wireless F/T The three Transducer Wireless F/T model can interface with up to three ATI Multi-Axis Force/Torque transducers simultaneously. Each of the three transducer connectors has a transducer status indicator. The device has a rechargeable battery that can power the device for approximately two hours at full measurement rate with all three transducers enabled.
Page 11: Six Transducer Wireless F/T
Document #9620-05-Wireless FT-06 2.2 Six Transducer Wireless F/T The six Transducer Wireless F/T model can interface with up to six ATI Multi-Axis Force/Torque transducers simultaneously. Each of the six transducer connectors has a transducer status indicator. The device has a rechargeable battery that can power the device for approximately one hour at full measurement rate with all six transducers enabled.
Page 12: Antenna
Wireless F/T unit to fit into small confined spaces. 2.4 Micro USB Connector The Wireless F/T unit has a Micro USB connector that can be used to power the unit and charge the battery using the external power adapter.
Page 13: Controls And Indicators
Indicates the system is either off or in charging-only mode. Steady Blue Indicates the system is on. 2.10.3 Transducer Status Indicators The Wireless F/T has a transducer status indicator on the top of the device, beside its corresponding connector. Table 2.3—Transducer Status Indicators Behavior Description Steady Green Indicates normal transducer operation.
Page 14: Battery Status Indicator
Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 2.10.5 Battery Status Indicator The battery indicator is on the front of the device next to the battery compartment. Table 2.5—Battery Status Indicator Behavior Description Steady Green Indicates the battery is charged. Flashing Green Indicates the battery is charging. Flashing Red Indicates the battery charge is below 25%.
Page 15: Initial Configuration And Installation Of The Wireless F/T System
Wireless F/T unit, transducer(s), external power adapter and plugs, USB cable, and software. The Wireless F/T unit must be set up and configured before installing the transducer so that forces can be monitored during installation.
Page 16: Initial Configuration
The following procedure provides the steps needed to properly configure the Wireless F/T. 1. After connecting the Wireless F/T to the computer with the provided USB cable, it will begin to obtain the proper COM port drivers. This may take a few minutes. If they do not install on their own, install the Virtual Communication Port Driver per the instructions for your operating system found at: http://www.ftdichip.com/Support/Documents/InstallGuides.htm...
Page 17 5 GHz) from your network administrator. If your wireless network is not shown, press the “Refresh” button. Note: This will result in the Wireless F/T unit resetting while it attempts to locate nearby wireless networks. If you are switching between the 2.4 GHz and 5 GHz bands, you will need to input the Network Name manually as the Wireless F/T cannot scan one band for networks while connected to the other, consequently the networks will not show in the pull down list.
Page 18: The Wireless F/T Java Demo Application
10. When you have made all the appropriate changes to the device settings, press the “OK” button to apply the changes. The window will automatically close at this point and the Wireless F/T will reset upon exit. 11. Once the Wireless F/T has been powered up completely, the Wireless Status Indicator LED will transition from flashing to solid green if it has properly connected to your wireless network.
Page 19 Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 5. Use this page to configure the basic settings of your Wireless F/T system. Figure 3.8—Transducer Settings 6. Use this page to add any filters to your data and to select the proper calibration for each transducer (if a sensor contains multiple calibrations).
Page 20: Connecting To The Wireless F/T
Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 7. Your new Wireless F/T profile is now ready to use. Press the Finish button to exit. Figure 3.10—Your Profile is Ready 3.3.2 Connecting to the Wireless F/T 1. Select the proper profile and press the Start button as shown in Figure 3.6.
Page 21 • The data type displayed can be switched to F/T data or Gage (diagnostic) data by clicking the corresponding buttons. • The LED Status from the Wireless F/T unit will also be displayed in this left column. • Red text for a transducer indicates that the transducer is loaded beyond its measurement range and is saturated.
Page 22: Data Collection
There are two ways data can be stored. Data can be collected and stored on a file on a PC or network directory, and/or it can be collected and stored on the customer’s MicroSD card plugged into the Wireless F/T unit. 3.3.3.1 Collecting and Storing Data on a PC or Network File To collect data to a file, click the “…”...
Page 23: Collecting And Storing Data On A Microsd Card
Figure 3.13—Sample Data File 3.4 Mounting the Wireless F/T Unit Keep in mind that an unobstructed environment from the Wireless F/T to the wireless access point will improve signal strength. If an external power adapter is being used, refer to Section 3.5—...
Page 24: Installing The Transducer
Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 4. Installing the Transducer Information on the environment, mounting the transducer, interface plate design, and routing the transducer cable can be found in the F/T Transducer Installation and Operation manual (9620-Transducer Section). The transducer must be monitored during installation for gage saturation errors.
Page 25: Command Interface
Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 5. Command Interface The Wireless F/T unit must be installed, setup and configured prior to using any command interfaces. Refer Section 3—Initial Configuration and Installation of the Wireless F/T System for installation, setup, and configuration of the WNet unit. 5.1 Communication Interfaces The Wireless F/T can be setup and configured using a text-based command prompt console interface.
Page 26 Disable transmission of UDP packets to the WLAN Toggles the transmission of UDP packets to the WLAN VERSIONS – Display Component Versions This command displays the versions of the four updatable components of the Wireless F/T. The following is an example of the command output: >VERSIONS...
Page 27 Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 XPWR s1 s2 – Transducer Power Control where: s1 = 1, 2, 3, 4, 5, 6, or * s2 = ON or OFF This command enables and disables transducers. Unneeded transducers may be powered down using the XPWR command to save battery power.
Page 28: Commands For Modifying Wireless Settings
= 2.4 or 5 This command selects whether the Wireless F/T uses the 2.4 GHz or the 5 GHz frequency band for WLAN communications. The new frequency band selection will take place after either a WLAN OFF/ON cycle or after a unit reset or unit power cycle, assuming the new BAND setting has been saved with the SAVEALL command.
Page 29 Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 GATEIP n1.n2.n3.n4 – Set Default Gateway IP Address where: n1, n2, n3, and n4 are integers from 0 to 255 representing an IPV4 address This command sets the default gateway IP address for the WLAN. The default gateway IP address is active when DHCP is not used.
Page 30 Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 NET AP – Display Detected WLAN Access Points This command displays access points detected during the last scan of access points. If WLAN is OFF, NET AP will return the access points detected prior to setting WLAN to OFF. For example : >NET AP Ch Secur RSSI SNR NType...
Page 31 Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 NET TIME hh:mm:ss – Set System Time where: hh = integer; the current hour from 0 to 23 mm = integer; the current minute from 0 to 59 ss = integer; the current second from 0 to 59 This command allows you to change the system time.
Page 32 Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 NET LOC “s” – Set Unit Location Description where: s = a string of up to 39 ASCII-encoded characters This command stores or recalls a location description. The location description is intended to help identify individual units when accessed remotely.
Page 33 Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 NET UDPACT s – Packet Action During WLAN Flow Control where: s = BUFFER or DROP This command controls how the unit handles the transducer data when it needs to pause from sending data packets to the WLAN.
Page 34 Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 WLAN s – Enable or Disable WLAN Communications where: s = ON or OFF The WLAN command turns on and off WLAN communications. Turning off WLAN communications will reduce battery consumption. The WLAN command will also report its current value when issued without arguments.
Page 35: Commands Related To The Transducer Output
Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 5.5 Commands Related to the Transducer Output RATE n1 {n2} – Set Packet Rate with Optional Oversampling where: n1 = integer from 5 to 4000, representing the packet send rate in Hertz n2 = {optional} integer from 1 to 4000÷n1, representing the oversample value. This command allows you to set the rate at which data packets are sent to the destination IP address or the MicroSD card, and how many times to oversample.
Page 36 Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 The factory default is to send packets at 10 Hz (every 100 mS), with an oversample rate of 32. This means that one out of every 32 packets is sent. >rate Packet rate = 10 Hz rate = 320 Hz...
Page 37 Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 CALIB n – Set Active Calibration where: n = 1, 2, or 3 This command allows you to change the active calibration. The active calibration is the one currently for data collection. The CALIB command will also report which transducer is active and show each transducer’s active calibration, when issued without arguments.
Page 38: Commands Related To The Functionality Of The Microsd Card Reader
Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 5.6 Commands Related to the Functionality of the MicroSD Card Reader SD - Print Memory Card Diagnostic Information With no operands, this command prints a lengthy list of technical information about the user’s memory card. SD [FORMAT] - Format Memory Card This command allows you to format the MicroSD card.
Page 39 Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 2010/01/01 10:18 33,066 F3.dat 4 File(s) 179,260 bytes total 2 Dir (s) > SDREC s – Control Streaming Packets to Memory Card where: s = ON or OFF This command controls the saving of streaming data to the user memory card. All data is placed in the \ ATI subdirectory, which is automatically created when necessary.
Page 40: Commands Related To Ntp Time Synchronization
Server pool.ntp.org TimeZone -5:00 All packets generated by the Wireless F/T have a time stamp in units of milliseconds. NTP settings are controlled using the NTP commands. NTP ENABLE n – Controls NTP Synchronization where: n = 0 or 1 This command controls whether NTP synchronization is enabled or disabled.
Page 41 PC or for additional accuracy buy a precision NTP server in dedicated hardware . Public NTP time servers are also available. NTP best practices discourage the use of Stratum 1 time servers by end-use devices, such as the Wireless F/T. NTP ZONE s – UTC Time-Zone Offset where: s = string representing the time zone offset in hours and minutes.
Page 42: Udp Interface
> 5.8 UDP Interface The Wireless F/T unit listens on UDP port 49152 for commands. Any streaming UDP packets are sent to the current Destination IP address until a UDP command is received. When the Wireless F/T unit receives a UDP command from any IP address, the UDP packets are sent to whichever port the request came from.
Page 43 Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 These commands are currently implemented: Table 5.2—Current Command Implementation Number Name Comments Start streaming for either a fixed or unlimited number of Start streaming packets Stop streaming Stops streaming Set packet transmission Sets packet transmission rate. All transducers use the rate same rate. Ping Sends a no-payload Pong response back to the sender.
Page 44: Data Packet
20 bits. Sequence number. Used to identify missing sequence unsigned long messages. Wireless F/T Status Word 1 for Transducers 1 to statusCode1 unsigned long 3 (see below). Wireless F/T Status Word 2 for Transducers 4 to statusCode2 unsigned long 6 (see below).
Page 45 Green Green Green The Bridge bits indicate if a transducer is powered. The AFE bits indicate if the Wireless F/T is ready to read that transducer’s values. The System indicator combines the results for all Digital Board faults. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com...
Page 46: Calculating F/T Values For Data Packages
Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 The length of the packet depends on the number of transducers that are powered, and can be calculated using the following equation: PacketLength(in bytes) = 18 + NumberOfOneBits(transMask) × 24 This packet format can be rendered into C as: #define NUMBER_OF_ANALOG_BOARDS 2 #define NUMBER_OF_TRANSDUCERS #define NUMBER_OF_STRAIN_GAGES...
Page 47: Processor Firmware Update Procedure
The Wireless F/T device may be updated in the field. From a user’s perspective, the procedure is the following: 1. Use the Java demo application on the PC to download the binary image appl.bin to the Wireless F/T unit. 2. Reset the Wireless F/T unit.
Page 48: Maintenance
Spare parts are available from ATI Industrial Automation. Please call for recommendations. 6.1 Preventive Maintenance The Wireless F/T is designed to provide a long life with regular maintenance. A visual inspection and preventive maintenance schedule is provided in the Table 6.1.
Page 49: Troubleshooting
Wireless network component Test components and replace as needed failing or not functioning Wireless F/T failing or not Test Wireless F/T and replace as needed functioning Refer to the F/T Installation and Operation Transducer not functioning manual for troubleshooting information.
Page 50: Specifications
Document #9620-05-Wireless FT-06 9. Specifications The specifications section covers characteristics of the Wireless F/T device. Other components such as transducer, cabling may be found in the specific product manual on our website. Drawings may also be found in the product catalog and on our website.
Page 51: Physical Characteristics
Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 9.3 Physical Characteristics Size Wireless WNet-3 (Excluding Antenna & mating connectors) 156 mm x 82 mm x 19.7 mm (6.15 in x 3.23 in x 0.775 in) Wireless WNet-6 (Excluding Antenna & mating connectors) 156 mm x 82 mm x 33 mm (6.15 in x 3.22 in x 1.3 in) Antenna 100 mm (3.9 in)
Page 52: Analog Transducer Data Filtering
Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 9.4.1 Analog Transducer Data Filtering shows the frequency response of the WNet hardware filter. The graph does not include Figure 9.2 the effects of any mechanical filtering (which occurs in any spring and mass system). Figure 9.2—WNet Analog Filtering Frequency Response (typical) WNet Analog Filtering Frequency Response 0.00...
Page 53: Regulatory Information
Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 10. Regulatory Information 10.1 FCC Statement Declaration of Conformity with FCC Rules for Electromagnetic Compatibility We, ATI Industrial Automation of 1031 Goodworth Drive, Apex, NC 27539, declare under our sole responsibility that the Wireless Multi-Axis Force/Torque Transmitter models, WNET-NA-x, FTWN-NA-x, comply with Part 15 of the FCC Rules.
Page 54 Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 IMPORTANT NOTICE: IC Radiation Exposure Statement The SAR limit for North America is 1.6 W/kg averaged over one gram of tissue. This product (IC ID: 12098A-9105WNET) has also been tested against this SAR limit. The highest SAR value reported under this standard during product certification for use when properly worn on the body is 1.04 W/kg.
Page 55: Drawings
Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 11. Drawings 11.1 Wireless Net F/T for 3 Transducers Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com...
Page 56: Wireless Net F/T For 6 Transducers
Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 11.2 Wireless Net F/T for 6 Transducers Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com...
Page 57: Terms And Conditions Of Sale
Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 12. Terms and Conditions of Sale The 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.
Page 58 Appendix A – UDP Command CRC Calculation All UDP commands sent to the Wireless F/T must include a two-byte CRC (Cyclic Redundancy Check) value. This value is used for error checking the command request and is based on the data in the command structure to be sent.
Page 59 Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 #else unsigned short crcByte(unsigned short crc, unsigned char ch) // direct calculation version (smaller & slower) unsigned short crc_new = (unsigned char)(crc >> 8) | (crc << 8); crc_new ^= ch; crc_new ^= (unsigned char)(crc_new & 0xff) >> 4; crc_new ^= crc_new <<...
Page 60: Initial Configuration Using A Telnet Program
LPT)” section, and finding a connection labeled “USB Serial Port (COMx)” If there’s more than one serial port, you may have to disconnect the USB cable and see which COM port is removed in the device manager, then reconnect the USB cable. The example in the following figure shows Wireless F/T is connected to COM5.
Page 61 Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 Figure 14.2—PuTTy Terminal Program 6. In the Category pane click on Session, The Serial Line should now be the COM port and Speed should be the values entered in the previous step. In the Saved Sessions field enter Wireless FT COM5 and select save.
Page 62 Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 10. Test that the unit is working by entering “IP” followed by the Enter key. This is the IP command, and will present the current IP settings. Refer to the following example screen. Figure 14.4—Test the Connection 11.
Page 63 16. Disconnect the USB cable from the Wireless F/T unit and the computer. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com...
Page 64: Introduction
Wireless F/T interface. These requirements include design of a signal conditioning circuit and calibration of the Wireless F/T inputs for analog signal sampling. This feature could be used to help synchronize F/T data with other sensors by using an empty transducer input to record a digital trigger signal.
Page 65 Manual, FT, Wireless FT Document #9620-05-Wireless FT-06 Figure 15.1—Rotating Reference Frame Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com...
Page 66: Wireless F/T Analog Input Calibration
Document #9620-05-Wireless FT-06 C.5 Wireless F/T Analog Input Calibration Calibrating the Wireless F/T to read in an analog voltage can be performed using the Wireless F/T Java demo. Calibration slot 3 will be pre-calibrated by ATI using the Internal Calibration method below.
Page 67: External Calibration
Document #9620-05-Wireless FT-06 2. Once the internal calibration is complete, close the Voltage-Calibration window, apply your 2.5V reference to the inputs of the Wireless F/T, and bias the transducer input you just calibrated. Figure 15.4—Apply the Input Range - Internal Calibration C.5.2 External Calibration...
Page 68 3. Once the external calibration is complete, close the Voltage-Calibration window, apply your 2.5 V reference to the inputs of the Wireless F/T, and bias the transducer input you just calibrated. See the Wireless F/T manual for more details about biasing a transducer input.
Page 69: Troubleshooting
Use power supply with higher efficiency at small loads Use 2.5V reference with lower supply 5V supply from Drawing >20mA from 5V current Wireless F/T turns supply off unexpectedly Use op amps with lower supply current Use external supply with higher current limit Transducer input has not been Bias transducer input with 2.5V reference...
Page 70 F/T Transducer Six-Axis Force/Torque Sensor System Installation and Operation Manual Document #: 9620-05-Transducer Section March 2016 Engineered Products for Robotic Productivity Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: +1-919.772.0115 • Fax: +1-919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com...
Page 71 F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 Foreword Information 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.
Page 72 F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 Note Please 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.
Page 73 F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 Table of Contents Foreword ............................2 Glossary of Terms ........................12 Safety ............................14 1.1 Explanation of Notifications ....................... 14 General Safety Guidelines ......................14 Safety Precautions ........................14 Product Overview ........................15 Installing the Transducer .......................
Page 74 F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.3.3 Calibration Specifications (excludes CTL calibrations) ............ 33 5.3.4 CTL Calibration Specifications ..................34 5.3.5 Analog Output ........................34 5.3.6 Counts Value ........................34 5.3.7 Nano17 (US Calibration Complex Loading)(Includes IP65/IP68) ..............5.3.8 Nano17 (SI Calibration Complex Loading)(Includes IP65/IP68) ..............5.3.9 Nano17-E Transducer Drawing ..................37 5.3.10 Nano17 IP65/IP68 Transducer with Axial Cable Exit Drawing ......... 38 5.3.11 Legacy Nano17 Transducer Drawing ................
Page 75 F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.6.8 Mini27 Titanium Transducer Drawing ................58 5.7 Mini40 Specifications (Includes IP65/IP68 Versions) ............... 59 5.7.1 Mini40 Physical Properties ....................59 5.7.2 Mini40 IP65/IP68 Physical Properties ................59 5.7.3 Calibration Specifications (excludes CTL calibrations) ............ 60 5.7.4 CTL Calibration Specifications ..................61 5.7.5 Analog Output ........................
Page 76 F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.10.2 Mini58 IP60 Physical Properties ..................83 5.10.3 Mini58 IP65/IP68 Physical Properties ................84 5.10.4 Calibration Specifications (excludes CTL calibrations) ............ 85 5.10.5 CTL Calibration Specifications ..................85 5.10.6 Analog Output ........................86 5.10.7 Counts Value ........................86 5.10.8 Tool Transform Factor ......................
Page 77 F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.12.15 Gamma IP60 Transducer Drawing ................. 110 5.12.16 Gamma IP65 Transducer Drawing ..................111 5.12.17 Gamma IP68 Transducer Drawing ................. 112 5.13 Delta Specifications (Includes IP60/IP65/IP68 Versions) ............113 5.13.1 Delta Physical Properties ....................113 5.13.2 Delta IP60 Physical Properties ..................113 5.13.3 Delta IP65 Physical Properties ..................
Page 78 F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.15.2 Omega85 IP65/IP68 Physical Properties ............... 137 5.15.3 Calibration Specifications (excludes CTL calibrations) ..........138 5.15.4 Omega85 (US Calibration Complex Loading)(Includes IP65/IP68) ............5.15.5 Omega85 (SI Calibration Complex Loading)(Includes IP65/IP68) ............5.15.6 Omega85 Transducer Drawing ..................141 5.15.7 Omega85 IP65 Transducer Drawing ................142 5.15.8 Omega85 IP68 Transducer Drawing ................143 5.16 Omega160 Specifications (Includes IP60/IP65/IP68 Versions) ..........
Page 79 F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.18 Omega191 Specifications (Includes IP60/IP65/IP68 Versions) ..........168 5.18.1 Omega191 Physical Properties ..................168 5.18.2 Omega191 IP60 Physical Properties ................168 5.18.3 Omega191 IP65/IP68 Physical Properties ..............169 5.18.4 Calibration Specifications (excludes CTL calibrations) ..........170 5.18.5 CTL Calibration Specifications ..................170 5.18.6 Analog Output ........................
Page 80 F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 6.2 Detecting Failures (Diagnostics) ..................... 193 6.2.1 Detecting Sensitivity Changes ..................193 Scheduled Maintenance ......................193 6.3.1 Periodic Inspection ......................193 6.3.2 Periodic Calibration ......................194 Transducer Cabling ........................194 6.4.1 Calibrations ........................194 6.4.2 Cabling and Connectors ....................
Page 81: Glossary Of Terms
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 Glossary of Terms Accuracy See Measurement Uncertainty. 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.
Page 82 F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 Short for multiplexer. F/T Controller Sensor Systems use mux electronics to interface to the transducer signals. Mux Box A box that holds mux electronics for transducers that are too small for on-board electronics.
Page 83: Safety
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 1. Safety The 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.
Page 84: Product Overview
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 2. Product Overview A 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.
Page 85: Installing The Transducer
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 3. Installing the Transducer This section will provide information on the environment, transducer IP rating, mounting the transducer, and routing the transducer cable. 3.1 Transducer Environment To ensure proper operation, the IP rating of the transducer must match or exceed the transducer’s environment.
Page 86 F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 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.
Page 87: Mounting The Transducer With A Removable Mounting Adapter Plate
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 3.2.2 Mounting the Transducer with a Removable Mounting Adapter Plate Check 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 details in designing an interface plate before continuing with this procedure.
Page 88 F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 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 (moment arm increases applied loads) when mounting the transducer.
Page 89: Mounting The Transducer With A Non-Removable Adapter Plate
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 3.2.3 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 the warranty. Use the mounting bolt pattern provided to attach the transducer to the robot or other device and to mount the tool to the transducer.
Page 90: Routing The Transducer Cable
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 3.3 Routing the Transducer Cable The 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.
Page 91 F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 Figure 3.6—Transducer Bending Radius To protect cable For Nano and Mini series Transducers Refer to Table 3.1 for connection from repetitive Do not bend the cable any closer than minimum static bending radius motion, restrain cable 25mm (1 inch) to the transducer (at room temperature)
Page 92: Topics
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 4. Topics 4.1 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;...
Page 93: Environmental
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 4.3 Environmental The 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.
Page 94: Mux Transducer Input Filter Frequency Response
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 4.4 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.
Page 95: Transducer Specifications
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5. Transducer Specifications 5.1 Notes About CTL Calibration Specifications 5.1.1 CTL 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.
Page 96: Nano17 Titanium
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.2 Nano17 Titanium 5.2.1 Nano17 Titanium Physical Properties Table 5.1—Nano17 Titanium Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±35 lbf ±160 N ±70 lbf ±310 N ±8.9 inf-lb ±1 Nm ±10 inf-lb ±1.2 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky)
Page 97: Ctl Calibration Specifications
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 CTL Calibration Specifications 5.2.3 Table 5.3— Nano17 Titanium CTL Calibrations 1, 2 (US) Standard Fx,Fy Tx,Ty Fx,Fy Tx,Ty Sensor (lbf) (lbf) (lbf-in) (lbf-in) (lbf) (lbf) (lbf-in) (lbf-in) Calibration US-1.8-0.4 Nano17 Titanium 3.15 1/1700 1/1360 7/46400 1/9280 US-3.6-0.8 Nano17 Titanium 1/850...
Page 98: Nano17 Titanium (Us Calibration Complex Loading)
F/T Transducer Installation and Operation Manual Help Nano17 Titanium Document #9620-05-Transducer Section-20 Nano17 Titanium (US Calibration Complex Loading) 5.2.6 US-1.8-0.4 US-3.6-0.8 US-7.2-1.6 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 99: Nano17 Titanium (Si Calibration Complex Loading)
F/T Transducer Installation and Operation Manual Help Document #9620-05-Transducer Section-20 Nano17 Titanium Nano17 Titanium (SI Calibration Complex Loading) 5.2.7 SI-8-0.05 SI-16-0.1 SI-32-0.2 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 100: Nano17 Titanium Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.2.8 Nano17 Titanium Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 101: Nano17 Specifications (Includes Ip65/Ip68 Versions)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.3 Nano17 Specifications (Includes IP65/IP68 Versions) 5.3.1 Nano17 Physical Properties Table 5.6—Nano17 Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±56 lbf ±250 N ±110 lbf ±480 N ±14 inf-lb ±1.6 Nm ±16 inf-lb ±1.8 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 4.7x10 lb/in...
Page 102: Calibration Specifications (Excludes Ctl Calibrations)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 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.
Page 103: Ctl Calibration Specifications
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 CTL Calibration Specifications 5.3.4 Table 5.9— Nano17 CTL Calibrations 1, 2 (US) Standard Fx,Fy Tx,Ty Fx,Fy Tx,Ty Sensor (lbf) (lbf) (lbf-in) (lbf-in) (lbf) (lbf) (lbf-in) (lbf-in) Calibration US-3-1 Nano17 4.25 1/640 1/640 1/4000 1/4000 US-6-2 Nano17 1/320...
Page 104: Nano17 (Us Calibration Complex Loading)(Includes Ip65/Ip68)
F/T Transducer Installation and Operation Manual Help Nano17 Document #9620-05-Transducer Section-20 Nano17 (US Calibration Complex Loading)(Includes IP65/IP68) 5.3.7 US-3-1 US-6-2 US-12-4 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 105: Nano17 (Si Calibration Complex Loading)(Includes Ip65/Ip68)
F/T Transducer Installation and Operation Manual Help Nano17 Document #9620-05-Transducer Section-20 5.3.8 Nano17 (SI Calibration Complex Loading)(Includes IP65/IP68) SI-12-0.12 SI-25-0.25 SI-50-0.5 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 106: Nano17-E Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.3.9 Nano17-E Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 107: Nano17 Ip65/Ip68 Transducer With Axial Cable Exit Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.3.10 Nano17 IP65/IP68 Transducer with Axial Cable Exit Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 108: Legacy Nano17 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.3.11 Legacy Nano17 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 109: Nano25 Specifications (Includes Ip65/Ip68 Versions)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.4 Nano25 Specifications (Includes IP65/IP68 Versions) 5.4.1 Nano25 Physical Properties Table 5.12—Nano25 Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±520 lbf ±2300 N ±1600 lbf ±7300 N ±380 inf-lb ±43 Nm ±560 inf-lb ±63 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 3.0x10 lb/in...
Page 110: Calibration Specifications (Excludes Ctl Calibrations)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 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.
Page 111: Ctl Calibration Specifications
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 CTL Calibration Specifications 5.4.4 Table 5.15— Nano25 CTL Calibrations 1, 2, 4 (US) Standard Fx,Fy Tx,Ty Fx,Fy Tx,Ty Sensor (lbf) (lbf) (lbf-in) (lbf-in) (lbf) (lbf) (lbf-in) (lbf-in) Calibration US-25-25 Nano25 1/112 3/112 1/80 1/160 US-50-50 Nano25 1/56...
Page 112: Nano25 (Us Calibration Complex Loading)(Includes Ip65/Ip68)
F/T Transducer Installation and Operation Manual Help Nano25 Document #9620-05-Transducer Section-20 Nano25 (US Calibration Complex Loading)(Includes IP65/IP68) 5.4.7 US-25-25 US-50-50 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 113: Nano25 (Si Calibration Complex Loading)(Includes Ip65/Ip68)
F/T Transducer Installation and Operation Manual Help Nano25 Document #9620-05-Transducer Section-20 5.4.8 Nano25 (SI Calibration Complex Loading)(Includes IP65/IP68) SI-125-3 SI-250-6 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 114: Nano25-E Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.4.9 Nano25-E Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 115: Nano25 Ip65/Ip68 Transducer With Axial Cable Exit Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.4.10 Nano25 IP65/IP68 Transducer with Axial Cable Exit Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 116: Nano25 Ip65/Ip68 Transducer With Radial Cable Exit Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.4.11 Nano25 IP65/IP68 Transducer with Radial Cable Exit Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 117: Legacy Nano25 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.4.12 Legacy Nano25 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 118: Nano43 Specifications
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.5 Nano43 Specifications 5.5.1 Nano43 Physical Properties Table 5.18—Nano43 Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±68 lbf ±300 N ±86 lbf ±380 N ±29 inf-lb ±3.2 Nm ±41 inf-lb ±4.6 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 2.9x10 lb/in 5.2x10...
Page 119: Ctl Calibration Specifications
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 CTL Calibration Specifications 5.5.3 Table 5.20— Nano43 CTL Calibrations 1, 2 (US) Standard Fx,Fy Tx,Ty Fx,Fy Tx,Ty Sensor (lbf) (lbf) (lbf-in) (lbf-in) (lbf) (lbf) (lbf-in) (lbf-in) Calibration US-2-1 Nano43 1/1160 1/1160 1/2320 1/2320 US-4-2 Nano43 1/580 1/580...
Page 120: Nano43 (Us Calibration Complex Loading)
F/T Transducer Installation and Operation Manual Help Nano43 Document #9620-05-Transducer Section-20 Nano43 (US Calibration Complex Loading) 5.5.6 US-2-1 US-4-2 US-8-4 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 121: Nano43 (Si Calibration Complex Loading)
F/T Transducer Installation and Operation Manual Help Nano43 Document #9620-05-Transducer Section-20 Nano43 (SI Calibration Complex Loading) 5.5.7 SI-9-0.125 SI-18-0.25 SI-36-0.5 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 122: Nano43 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.5.8 Nano43 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 123: Mini27 Titanium Specifications
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.6 Mini27 Titanium Specifications 5.6.1 Mini27 Titanium Physical Properties Table 5.23—Mini27 Titanium Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±330 lbf ±1500 N ±1000 lbf ±4600 N ±270 inf-lb ±30 Nm ±360 inf-lb ±40 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 1.8x10...
Page 124: Ctl Calibration Specifications
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 CTL Calibration Specifications 5.6.3 Table 5.25— Mini27 Titanium CTL Calibrations 1, 2 (US) Standard Fx,Fy Tx,Ty Fx,Fy Tx,Ty Sensor (lbf) (lbf) (lbf-in) (lbf-in) (lbf) (lbf) (lbf-in) (lbf-in) Calibration US-10-18 Mini27 Titanium 1/200 3/200 1/200 1/400 US-20-36 Mini27 Titanium...
Page 125: Mini27 Titanium (Us Calibration Complex Loading)
F/T Transducer Installation and Operation Manual Help Mini27 Titanium Document #9620-05-Transducer Section-20 Mini27 Titanium (US Calibration Complex Loading) 5.6.6 US-10-18 US-20-36 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 126: Mini27 Titanium (Si Calibration Complex Loading)
F/T Transducer Installation and Operation Manual Help Mini27 Titanium Document #9620-05-Transducer Section-20 Mini27 Titanium (SI Calibration Complex Loading) 5.6.7 SI-40-2 SI-80-4 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 127: Mini27 Titanium Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.6.8 Mini27 Titanium Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 128: Mini40 Specifications (Includes Ip65/Ip68 Versions)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.7 Mini40 Specifications (Includes IP65/IP68 Versions) 5.7.1 Mini40 Physical Properties Table 5.28—Mini40 Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±180 lbf ±810 N ±530 lbf ±2400 N ±170 inf-lb ±19 Nm ±180 inf-lb ±20 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 6.1x10 lb/in 1.1x10...
Page 129: Calibration Specifications (Excludes Ctl Calibrations)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 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.
Page 130: Ctl Calibration Specifications
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 CTL Calibration Specifications 5.7.4 Table 5.31— Mini40 CTL Calibrations 1, 2 (US) Standard Fx,Fy Tx,Ty Fx,Fy Tx,Ty Sensor (lbf) (lbf) (lbf-in) (lbf-in) (lbf) (lbf) (lbf-in) (lbf-in) Calibration US-5-10 Mini40 1/400 1/200 1/400 1/400 US-10-20 Mini40 1/200 1/100...
Page 131: Mini40 (Us Calibration Complex Loading)(Includes Ip65/Ip68)
F/T Transducer Installation and Operation Manual Help Mini40 Document #9620-05-Transducer Section-20 Mini40 (US Calibration Complex Loading)(Includes IP65/IP68) 5.7.7 US-5-10 US-10-20 US-20-40 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 132: Mini40 (Si Calibration Complex Loading)(Includes Ip65/Ip68)
F/T Transducer Installation and Operation Manual Help Mini40 Document #9620-05-Transducer Section-20 5.7.8 Mini40 (SI Calibration Complex Loading)(Includes IP65/IP68) SI-20-1 SI-40-2 SI-80-4 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 133: Mini40-E Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.7.9 Mini40-E Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 134: Legacy Mini40 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.7.10 Legacy Mini40 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 135: Mini40 Ip65/Ip68 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.7.11 Mini40 IP65/IP68 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 136: Mini45 Titanium Specifications
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.8 Mini45 Titanium Specifications 5.8.1 Mini45 Titanium Physical Properties Table 5.34—Mini45 Titanium Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±670 lbf ±3000 N ±1400 lbf ±6400 N ±590 inf-lb ±67 Nm ±720 inf-lb ±81 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 2.5x10...
Page 137: Ctl Calibration Specifications
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.8.3 CTL Calibration Specifications Table 5.36— Mini45 Titanium CTL Calibrations 1, 2 (US) Standard Fx,Fy Tx,Ty Fx,Fy Tx,Ty Sensor (lbf) (lbf) (lbf-in) (lbf-in) (lbf) (lbf) (lbf-in) (lbf-in) Calibration US-15-25 Mini45 Titanium 3/400 1/80 1/150 1/200 US-30-50 Mini45 Titanium...
Page 138: Mini45 Titanium (Us Calibration Complex Loading)
F/T Transducer Installation and Operation Manual Help Mini45 Titanium Document #9620-05-Transducer Section-20 5.8.6 Mini45 Titanium (US Calibration Complex Loading) US-15-25 US-30-50 US-60-100 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 139: Mini45 Titanium (Si Calibration Complex Loading)
F/T Transducer Installation and Operation Manual Help Mini45 Titanium Document #9620-05-Transducer Section-20 5.8.7 Mini45 Titanium (SI Calibration Complex Loading) SI-60-3 SI-120-6 SI-240-12 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 140: Mini45 Titanium Axial Exit Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.8.8 Mini45 Titanium Axial Exit Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 141: Mini45 Titanium Right Angle E-Exit Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.8.9 Mini45 Titanium Right Angle E-Exit Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 142: Mini45 Specifications (Includes Ip65/Ip68 Versions)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.9 Mini45 Specifications (Includes IP65/IP68 Versions) 5.9.1 Mini45 Physical Properties Table 5.39—Mini45 Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±1100 lbf ±5100 N ±2300 lbf ±10000 N ±1000 inf-lb ±110 Nm ±1200 inf-lb ±140 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 4.2x10 lb/in...
Page 143: Calibration Specifications (Excludes Ctl Calibrations)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 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.
Page 144: Ctl Calibration Specifications
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 CTL Calibration Specifications 5.9.4 Table 5.42— Mini45 CTL Calibrations 1, 2 (US) Standard Fx,Fy Tx,Ty Fx,Fy Tx,Ty Sensor (lbf) (lbf) (lbf-in) (lbf-in) (lbf) (lbf) (lbf-in) (lbf-in) Calibration US-30-40 Mini45 1/40 1/40 1/44 1/88 US-60-80 Mini45 1/20 1/20...
Page 145: Mini45 (Us Calibration Complex Loading)(Includes Ip65/Ip68)
F/T Transducer Installation and Operation Manual Help Mini45 Document #9620-05-Transducer Section-20 Mini45 (US Calibration Complex Loading)(Includes IP65/IP68) 5.9.7 US-30-40 US-60-80 US-120-160 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 146: Mini45 (Si Calibration Complex Loading)(Includes Ip65/Ip68)
F/T Transducer Installation and Operation Manual Help Mini45 Document #9620-05-Transducer Section-20 5.9.8 Mini45 (SI Calibration Complex Loading)(Includes IP65/IP68) SI-145-5 SI-290-10 SI-580-20 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 147: Mini45-E Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.9.9 Mini45-E Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 148: Mini45-Era Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.9.10 Mini45-ERA Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 149: Mini45-Ae Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.9.11 Mini45-AE Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 150: Mini45 Ip65/Ip68 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.9.12 Mini45 IP65/IP68 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 151: Legacy Mini45 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.9.13 Legacy Mini45 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 152: Mini58 Specifications (Includes Ip60/Ip65/Ip68 Versions)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.10 Mini58 Specifications (Includes IP60/IP65/IP68 Versions) 5.10.1 Mini58 Physical Properties Table 5.45—Mini58 Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±4800 lbf ±21000 N ±11000 lbf ±48000 N ±5300 inf-lb ±590 Nm ±7100 inf-lb ±800 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 1.4x10 lb/in 2.5x10 Z-axis force (Kz) 2.1x10 lb/in...
Page 153: Mini58 Ip65/Ip68 Physical Properties
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.10.3 Mini58 IP65/IP68 Physical Properties Table 5.47—Mini58 IP65/IP68 Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±4800 lbf ±21000 N ±11000 lbf ±48000 N ±5300 inf-lb ±590 Nm ±7100 inf-lb ±800 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 1.4x10 lb/in 2.5x10 Z-axis force (Kz) 2.1x10 lb/in 3.7x10 X-axis & Y-axis torque (Ktx, Kty)
Page 154: Calibration Specifications (Excludes Ctl Calibrations)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.10.4 Calibration Specifications (excludes CTL calibrations) Table 5.48— Mini58 Calibrations (excludes CTL calibrations) 1, 2 (US) Standard Fx,Fy Tx,Ty Fx,Fy Tx,Ty Sensor (lbf) (lbf) (lbf-in) (lbf-in) (lbf) (lbf) (lbf-in) (lbf-in) Calibration US-150-250 Mini58 5/112 1/16 1/20 7/240 US-300-500 Mini58 5/56 1/10 7/120 US-600-1000 Mini58 1500...
Page 155: Analog Output
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.10.6 Analog Output Table 5.50— Mini58 Analog Output (US) Standard Tx,Ty,Tz Tx,Ty,Tz Fx,Fy Fx,Fy Sensor (lbf) (lbf) (lbf-in) (lbf/V) (lbf/V) (lbf-in/V) Calibration US-150-250 Mini58 ±150 ±375 ±250 37.5 US-300-500 Mini58 ±300 ±750 ±500 US-600-1000 Mini58 ±600 ±1500 ±1000...
Page 156: Mini58 (Us Calibration Complex Loading)(Includes Ip60/Ip65/Ip68)
F/T Transducer Installation and Operation Manual Help Mini58 Document #9620-05-Transducer Section-20 5.10.9 Mini58 (US Calibration Complex Loading)(Includes IP60/IP65/IP68) US-150-250 US-300-500 US-600-1000 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 157: Mini58 (Si Calibration Complex Loading)(Includes Ip60/Ip65/Ip68)
F/T Transducer Installation and Operation Manual Help Mini58 Document #9620-05-Transducer Section-20 5.10.10 Mini58 (SI Calibration Complex Loading)(Includes IP60/IP65/IP68) SI-700-30 SI-1400-60 SI-2800-120 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 158: Mini58 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.10.11 Mini58 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 159: Mini58 Ip60 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.10.12 Mini58 IP60 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 160: Mini58 Ip65/Ip68 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.10.13 Mini58 IP65/IP68 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 161: Mini85 Specifications (Includes Ip60 Versions)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.11 Mini85 Specifications (Includes IP60 Versions) 5.11.1 Mini85 Physical Properties Table 5.53—Mini85 Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±2800 lbf ±13000 N ±6100 lbf ±27000 N ±4400 inf-lb ±500 Nm ±5400 inf-lb ±610 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 4.4x10 lb/in 7.7x10 Z-axis force (Kz) 6.8x10 lb/in...
Page 162: Ctl Calibration Specifications
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.11.3 CTL Calibration Specifications 1, 2 Table 5.55— Mini85 CTL Calibrations (US) Standard Fx,Fy Tx,Ty Fx,Fy Tx,Ty Sensor (lbf) (lbf) (lbf-in) (lbf-in) (lbf) (lbf) (lbf-in) (lbf-in) Calibration US-105-185 Mini85 1/26 7/130 5/84 1/24 US-210-370 Mini85 5/64 3/32 5/42 1/12 US-420-740...
Page 163: Tool Transform Factor
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.11.6 Tool Transform Factor Table 5.58—Tool Transform Factor US (English) SI (Metric) Sensor Calibration US-105-185 / SI-475-20 Mini85 0.00774 in/lbf 0.374 mm/N US-210-370 / SI-950-40 Mini85 0.00762 in/lbf 0.374 mm/N US-420-740 / SI-1900-80 Mini85 0.00762 in/lbf 0.374 mm/N Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 164: Mini85 (Us Calibration Complex Loading)(Includes Ip60)
F/T Transducer Installation and Operation Manual Help Mini85 Document #9620-05-Transducer Section-20 5.11.7 Mini85 (US Calibration Complex Loading)(Includes IP60) US-105-185 US-210-370 US-420-740 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 165: Mini85 (Si Calibration Complex Loading)(Includes Ip60)
F/T Transducer Installation and Operation Manual Help Mini85 Document #9620-05-Transducer Section-20 5.11.8 Mini85 (SI Calibration Complex Loading)(Includes IP60) SI-475-20 SI-950-40 SI-1900-80 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 166: Mini85 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.11.9 Mini85 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 167: Mini85-E Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.11.10 Mini85-E Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 168: Mini85 Ip60 Transducer With 20Mm Through-Hole Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.11.11 Mini85 IP60 Transducer with 20mm Through-Hole Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 169: Gamma Specifications (Includes Ip60/Ip65/Ip68 Versions)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.12 Gamma Specifications (Includes IP60/IP65/IP68 Versions) 5.12.1 Gamma Physical Properties Table 5.59—Gamma Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±280 lbf ±1200 N ±930 lbf ±4100 N ±700 inf-lb ±79 Nm ±730 inf-lb ±82 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 5.2x10 lb/in...
Page 170: Gamma Ip65 Physical Properties
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.12.3 Gamma IP65 Physical Properties Table 5.61—Gamma IP65 Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±280 lbf ±1200 N ±930 lbf ±4100 N ±700 inf-lb ±79 Nm ±730 inf-lb ±82 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 5.2x10 lb/in...
Page 171: Calibration Specifications (Excludes Ctl Calibrations)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 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.
Page 172: Ctl Calibration Specifications
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.12.6 CTL Calibration Specifications 1, 2 Table 5.64— Gamma CTL Calibrations (US) Standard Fx,Fy Tx,Ty Fx,Fy Tx,Ty Sensor (lbf) (lbf) (lbf-in) (lbf-in) (lbf) (lbf) (lbf-in) (lbf-in) Calibration US-7.5-25 Gamma 1/320 1/160 1/160 1/160 US-15-50 Gamma 1/160 1/80...
Page 173: Counts Value
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.12.8 Counts Value Table 5.66—Counts Value Fx, Fy, Fz Tx, Ty, Tz Fx, Fy, Fz Tx, Ty, Tz Sensor Calibration (/ lbf) (/ lbf-in) (/ N) (/ Nm) US-7.5–25 / SI-32–2.5 Gamma 2560 2560 8000 US-15–50 / SI-65–5 Gamma 1280 1280 5333.33 US-30–100 / SI-130–10 Gamma 3200 Gamma Tool Transform Factor See Tool Transform Factor table Counts Value – Standard (US) Counts Value – Metric (SI)
Page 174: Gamma (Us Calibration Complex Loading)(Includes Ip60/Ip65/Ip68)
F/T Transducer Installation and Operation Manual Help Gamma Document #9620-05-Transducer Section-20 5.12.10 Gamma (US Calibration Complex Loading)(Includes IP60/IP65/IP68) US-7.5-25 US-15-50 US-30-100 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 175: Gamma (Si Calibration Complex Loading)(Includes Ip60/Ip65/Ip68)
F/T Transducer Installation and Operation Manual Help Gamma Document #9620-05-Transducer Section-20 5.12.11 Gamma (SI Calibration Complex Loading)(Includes IP60/IP65/IP68) SI-32-2.5 SI-65-5 SI-130-10 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 176: Gamma Daq/Net Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.12.12 Gamma DAQ/Net Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 177: 9105-T-Gamma Transducer Without Mounting Adapter Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.12.13 9105-T-Gamma Transducer without Mounting Adapter Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 178: Gamma Mounting Adapter Plate Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.12.14 Gamma Mounting Adapter Plate Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 179: Gamma Ip60 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.12.15 Gamma IP60 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 180: Gamma Ip65 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.12.16 Gamma IP65 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 181: Gamma Ip68 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.12.17 Gamma IP68 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 182: Delta Specifications (Includes Ip60/Ip65/Ip68 Versions)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.13 Delta Specifications (Includes IP60/IP65/IP68 Versions) 5.13.1 Delta Physical Properties Table 5.68—Delta Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±840 lbf ±3700 N ±2300 lbf ±10000 N ±2500 inf-lb ±280 Nm ±3600 inf-lb ±400 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 2.0x10 lb/in 3.6x10...
Page 183: Delta Ip65 Physical Properties
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.13.3 Delta IP65 Physical Properties Table 5.70—Delta IP65 Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±840 lbf ±3700 N ±2300 lbf ±10000 N ±2500 inf-lb ±280 Nm ±3600 inf-lb ±400 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 2.0x10 lb/in...
Page 184 F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 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.
Page 185: Ctl Calibration Specifications
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.13.6 CTL Calibration Specifications 1, 2 Table 5.73— Delta CTL Calibrations (US) Standard Fx,Fy Tx,Ty Fx,Fy Tx,Ty Sensor (lbf) (lbf) (lbf-in) (lbf-in) (lbf) (lbf) (lbf-in) (lbf-in) Calibration US-50-150 Delta 1/64 1/32 3/64 1/32 US-75-300 Delta 1/32 1/16...
Page 186: Delta (Us Calibration Complex Loading)(Includes Ip60/Ip65/Ip68)
F/T Transducer Installation and Operation Manual Help Delta Document #9620-05-Transducer Section-20 5.13.9 Delta (US Calibration Complex Loading)(Includes IP60/IP65/IP68) US-50-150 US-75-300 US-150-600 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 187: Delta (Si Calibration Complex Loading)(Includes Ip60/Ip65/Ip68)
F/T Transducer Installation and Operation Manual Help Delta Document #9620-05-Transducer Section-20 5.13.10 Delta (SI Calibration Complex Loading)(Includes IP60/IP65/IP68) SI-165-15 SI-330-30 SI-660-60 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 188: Delta Daq/Net Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.13.11 Delta DAQ/Net Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 189: 9105-T-Delta Transducer Without Mounting Adapter Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.13.12 9105-T-Delta Transducer without Mounting Adapter Drawing Note: Mux transducers are used in F/T Controller systems. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 190: Delta Mounting Adapter Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.13.13 Delta Mounting Adapter Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 191: Delta Ip60 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.13.14 Delta IP60 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 192: Delta Ip65 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.13.15 Delta IP65 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 193: Delta Ip68 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.13.16 Delta IP68 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 194: Theta Specifications (Includes Ip60/Ip65/Ip68 Versions)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.14 Theta Specifications (Includes IP60/IP65/IP68 Versions) 5.14.1 Theta Physical Properties Table 5.76—Theta Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±4500 lbf ±20000 N ±11000 lbf ±51000 N ±18000 inf-lb ±2000 Nm ±18000 inf-lb ±2000 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 4.0x10 lb/in...
Page 195: Theta Ip65/Ip68 Physical Properties
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.14.3 Theta IP65/IP68 Physical Properties Table 5.78—Theta IP65/IP68 Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±4500 lbf ±20000 N ±11000 lbf ±51000 N ±18000 inf-lb ±2000 Nm ±18000 inf-lb ±2000 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 4.0x10 lb/in 7.1x10 Z-axis force (Kz) 6.9x10 lb/in 1.2x10 X-axis & Y-axis torque (Ktx, Kty) 3.0x10...
Page 196: Calibration Specifications (Excludes Ctl Calibrations)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.14.4 Calibration Specifications (excludes CTL calibrations) 1, 2 Table 5.79— Theta Calibrations (excludes CTL calibrations) (US) Standard Fx,Fy Tx,Ty Fx,Fy Tx,Ty Sensor (lbf) (lbf) (lbf-in) (lbf-in) (lbf) (lbf) (lbf-in) (lbf-in) Calibration US-200-1000 Theta 1000 1000 1/32 1/16 US-300-1800 Theta 1800 1800 5/68 5/34 5/16...
Page 197: Analog Output
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.14.6 Analog Output Table 5.81— Theta Analog Output (US) Standard Tx,Ty,Tz Tx,Ty,Tz Fx,Fy Fx,Fy Sensor (lbf) (lbf) (lbf-in) (lbf/V) (lbf/V) (lbf-in/V) Calibration US-200-1000 Theta ±200 ±500 ±1000 US-300-1800 Theta ±300 ±875 ±1800 87.5 US-600-3600 Theta ±600...
Page 198: Theta (Us Calibration Complex Loading)(Includes Ip60/Ip65/Ip68)
F/T Transducer Installation and Operation Manual Help Theta Document #9620-05-Transducer Section-20 5.14.9 Theta (US Calibration Complex Loading)(Includes IP60/IP65/IP68) US-200-1000 US-300-1800 US-600-3600 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 199: Theta (Si Calibration Complex Loading)(Includes Ip60/Ip65/Ip68)
F/T Transducer Installation and Operation Manual Help Theta Document #9620-05-Transducer Section-20 5.14.10 Theta (SI Calibration Complex Loading)(Includes IP60/IP65/IP68) SI-1000-120 SI-1500-240 SI-2500-400 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 200: Theta Daq/Net Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.14.11 Theta DAQ/Net Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 201: 9105-T-Theta Transducer Without Mounting Adapter Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.14.12 9105-T-Theta Transducer without Mounting Adapter Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 202: Theta Mounting Adapter Plate Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.14.13 Theta Mounting Adapter Plate Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 203: Theta Ip60 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.14.14 Theta IP60 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 204: Theta Ip65 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.14.15 Theta IP65 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 205: Theta Ip68 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.14.16 Theta IP68 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 206: Omega85 Specifications (Includes Ip60/Ip65/Ip68 Versions)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.15 Omega85 Specifications (Includes IP60/IP65/IP68 Versions) 5.15.1 Omega85 Physical Properties Table 5.84—Omega85 Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±2800 lbf ±13000 N ±6100 lbf ±27000 N ±4400 inf-lb ±500 Nm ±5400 inf-lb ±610 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 4.4x10 lb/in 7.7x10 Z-axis force (Kz) 6.8x10 lb/in 1.2x10...
Page 207: Calibration Specifications (Excludes Ctl Calibrations)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 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.
Page 208: Omega85 (Us Calibration Complex Loading)(Includes Ip65/Ip68)
F/T Transducer Installation and Operation Manual Help Omega85 Document #9620-05-Transducer Section-20 5.15.4 Omega85 (US Calibration Complex Loading)(Includes IP65/IP68) US-105-185 US-210-370 US-420-740 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 209: Omega85 (Si Calibration Complex Loading)(Includes Ip65/Ip68)
F/T Transducer Installation and Operation Manual Help Omega85 Document #9620-05-Transducer Section-20 5.15.5 Omega85 (SI Calibration Complex Loading)(Includes IP65/IP68) SI-475-20 SI-950-40 SI-1900-80 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 210: Omega85 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.15.6 Omega85 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 211: Omega85 Ip65 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.15.7 Omega85 IP65 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 212: Omega85 Ip68 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.15.8 Omega85 IP68 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 213: Omega160 Specifications (Includes Ip60/Ip65/Ip68 Versions)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.16 Omega160 Specifications (Includes IP60/IP65/IP68 Versions) 5.16.1 Omega160 Physical Properties Table 5.87—Omega160 Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±3900 lbf ±18000 N ±11000 lbf ±48000 N ±15000 inf-lb ±1700 Nm ±17000 inf-lb ±1900 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 4.0x10 lb/in 7.0x10...
Page 214: Omega160 Ip65/Ip68 Physical Properties
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.16.3 Omega160 IP65/IP68 Physical Properties Table 5.89—Omega160 IP65/IP68 Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±3900 lbf ±18000 N ±11000 lbf ±48000 N ±15000 inf-lb ±1700 Nm ±17000 inf-lb ±1900 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 4.0x10 lb/in 7.0x10 Z-axis force (Kz) 6.8x10 lb/in 1.2x10 X-axis & Y-axis torque (Ktx, Kty) 2.9x10...
Page 215: Calibration Specifications (Excludes Ctl Calibrations)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.16.4 Calibration Specifications (excludes CTL calibrations) 1, 2 Table 5.90— Omega160 Calibrations (excludes CTL calibrations) (US) Standard Fx,Fy Tx,Ty Fx,Fy Tx,Ty Sensor (lbf) (lbf) (lbf-in) (lbf-in) (lbf) (lbf) (lbf-in) (lbf-in) Calibration US-200-1000 Omega160 1000 1000 1/32 1/16 US-300-1800 Omega160 1800 1800 5/68 5/34 5/16...
Page 216: Analog Output
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.16.6 Analog Output Table 5.92— Omega160 Analog Output (US) Standard Tx,Ty,Tz Tx,Ty,Tz Fx,Fy Fx,Fy Sensor (lbf) (lbf) (lbf-in) (lbf/V) (lbf/V) (lbf-in/V) Calibration US-200-1000 Omega160 ±200 ±500 ±1000 US-300-1800 Omega160 ±300 ±875 ±1800 87.5 US-600-3600 Omega160...
Page 217: Omega160 (Us Calibration Complex Loading) (Includes Ip60/Ip65/Ip68)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 Help Omega160 5.16.9 Omega160 (US Calibration Complex Loading) (Includes IP60/IP65/IP68) US-200-1000 US-300-1800 US-600-3600 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 218: Omega160 (Si Calibration Complex Loading) (Includes Ip60/Ip65/Ip68)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 Help Omega160 5.16.10 Omega160 (SI Calibration Complex Loading) (Includes IP60/IP65/IP68) SI-1000-120 SI-1500-240 SI-2500-400 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 219: Omega160 Transducer Without Mounting Adapter Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.16.11 Omega160 Transducer without Mounting Adapter Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 220: Omega160 Transducer With 53Mm Through Hole
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.16.12 Omega160 Transducer with 53mm Through Hole Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 221: Omega160 Transducer With Mounting Adapter Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.16.13 Omega160 Transducer with Mounting Adapter Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 222: Omega160 Ip60 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.16.14 Omega160 IP60 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 223: Ecat Omega160 Ip60 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.16.15 ECAT Omega160 IP60 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 224 F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 225: Omega160 Ip65 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.16.16 Omega160 IP65 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 226: Omega160 Ip68 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.16.17 Omega160 IP68 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 227: Omega190 Specifications (Includes Ip60/Ip65/Ip68 Versions)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.17 Omega190 Specifications (Includes IP60/IP65/IP68 Versions) 5.17.1 Omega190 Physical Properties Table 5.95—Omega190 Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±8000 lbf ±36000 N ±25000 lbf ±110000 N ±60000 lbf-in ±6800 Nm ±60000 lbf-in ±6800 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 1.4x10 lb/in...
Page 228: Omega190 Ip65/Ip68 Physical Properties
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.17.3 Omega190 IP65/IP68 Physical Properties Table 5.97—Omega190 IP65/IP68 Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±8000 lbf ±36000 N ±25000 lbf ±110000 N ±60000 lbf-in ±6800 Nm ±6800 Nm) ±60000 lbf-in Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) N/m) 1.4x10 lb/in 2.4x10 Z-axis force (Kz) 2.1x10 lb/in 3.6x10 X-axis & Y-axis torque (Ktx, Kty)
Page 229: Calibration Specifications (Excludes Ctl Calibrations)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.17.4 Calibration Specifications (excludes CTL calibrations) Table 5.98— Omega190 Calibrations (excludes CTL calibrations) 1, 2 (US) Standard Fx,Fy Tx,Ty Fx,Fy Tx,Ty Sensor (lbf) (lbf) (lbf-in) (lbf-in) (lbf) (lbf) (lbf-in) (lbf-in) Calibration US-400-3000 Omega190 1000 3000 3000 5/64 5/32 15/32 5/16 US-800-6000 Omega190 2000 6000 6000...
Page 230: Analog Output
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.17.6 Analog Output Table 5.100— Omega190 Analog Output (US) Standard Tx,Ty,Tz Tx,Ty,Tz Fx,Fy Fx,Fy Sensor (lbf) (lbf) (lbf-in) (lbf/V) (lbf/V) (lbf-in/V) Calibration US-400-3000 Omega190 ±400 ±1000 ±3000 US-800-6000 Omega190 ±800 ±2000 ±6000 US-1600-12000 Omega190 ±1600...
Page 231: Omega190 (Us Calibration Complex Loading) (Includes Ip60/Ip65/Ip68)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.17.8 Omega190 (US Calibration Complex Loading) (Includes IP60/IP65/IP68) US-1600- US-400-3000 US-800-6000 12000 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 232: Omega190 (Si Calibration Complex Loading) (Includes Ip60/Ip65/Ip68)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.17.9 Omega190 (SI Calibration Complex Loading) (Includes IP60/IP65/IP68) SI-1800-350 SI-3600-700 SI-7200-1400 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 233: Omega190 Daq/Net Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.17.10 Omega190 DAQ/Net Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 234: Omega190 Ip60 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.17.11 Omega190 IP60 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 235: Omega190 Ip65 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.17.12 Omega190 IP65 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 236: Omega190 Ip68 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.17.13 Omega190 IP68 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 237: Omega191 Specifications (Includes Ip60/Ip65/Ip68 Versions)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.18 Omega191 Specifications (Includes IP60/IP65/IP68 Versions) 5.18.1 Omega191 Physical Properties Table 5.102—Omega191 Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±8000 lbf ±36000 N ±25000 lbf ±110000 N ±60000 inf-lb ±6800 Nm ±60000 inf-lb ±6800 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 1.4x10 lb/in...
Page 238: Omega191 Ip65/Ip68 Physical Properties
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.18.3 Omega191 IP65/IP68 Physical Properties Table 5.104—Omega191 IP65/IP68 Physical Properties (US) Standard Units (SI) Metric Units Single-Axis Overload ±8000 lbf ±36000 N ±25000 lbf ±110000 N ±60000 inf-lb ±6800 Nm ±60000 inf-lb ±6800 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 1.4x10 lb/in 2.4x10 Z-axis force (Kz) 2.1x10 lb/in 3.6x10 X-axis & Y-axis torque (Ktx, Kty)
Page 239: Calibration Specifications (Excludes Ctl Calibrations)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.18.4 Calibration Specifications (excludes CTL calibrations) 1, 2 Table 5.105— Omega191 Calibrations (excludes CTL calibrations) (US) Standard Fx,Fy Tx,Ty Fx,Fy Tx,Ty Sensor (lbf) (lbf) (lbf-in) (lbf-in) (lbf) (lbf) (lbf-in) (lbf-in) Calibration US-400-3000 Omega191 1000 3000 3000 5/64 5/32 15/32 5/16 US-800-6000 Omega191 2000 6000...
Page 240: Analog Output
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.18.6 Analog Output Table 5.107— Omega191 Analog Output (US) Standard Tx,Ty,Tz Tx,Ty,Tz Fx,Fy Fx,Fy Sensor (lbf) (lbf) (lbf-in) (lbf/V) (lbf/V) (lbf-in/V) Calibration US-400-3000 Omega191 ±400 ±1000 ±3000 US-800-6000 Omega191 ±800 ±2000 ±6000 US-1600-12000 Omega191 ±1600...
Page 241: Omega191 (Us Calibration Complex Loading) (Includes Ip60/Ip65/Ip68)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 Help Omega191 5.18.8 Omega191 (US Calibration Complex Loading) (Includes IP60/IP65/IP68) US-400-3000 US-800-6000 US-1600-12000 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 242: Omega191 (Si Calibration Complex Loading) (Includes Ip60/Ip65/Ip68)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 Help Omega191 5.18.9 Omega191 (SI Calibration Complex Loading) (Includes IP60/IP65/IP68) SI-1800-350 SI-3600-700 SI-7200-1400 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 243: Omega191 Daq/Net Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.18.10 Omega191 DAQ/Net Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 244: Omega191 Ip60 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.18.11 Omega191 IP60 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 245: Omega191 Ip65 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.18.12 Omega191 IP65 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 246: Omega191 Ip68 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.18.13 Omega191 IP68 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 247: Omega250 Specifications (Includes Ip60/Ip65/Ip68)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.19 Omega250 Specifications (Includes IP60/IP65/IP68) 5.19.1 Omega250 Physical Properties (Includes IP60/IP65/IP68) Table 5.109—Omega250 Physical Properties (Includes IP60/IP65/IP68) (US) Standard Units (SI) Metric Units Single-Axis Overload ±37000 lbf ±160000 N ±74000 lbf ±330000 N ±180000 inf-lb ±21000 Nm ±220000 inf-lb ±25000 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 2.4x10 lb/in 4.2x10 Z-axis force (Kz) 3.2x10 lb/in...
Page 248: Calibration Specifications (Excludes Ctl Calibrations)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.19.2 Calibration Specifications (excludes CTL calibrations) 1, 2 Table 5.110— Omega250 Calibrations (excludes CTL calibrations) (US) Standard Fx,Fy Tx,Ty Fx,Fy Tx,Ty Sensor (lbf) (lbf) (lbf-in) (lbf-in) (lbf) (lbf) (lbf-in) (lbf-in) Calibration US-900-4500 Omega250 1800 4500 4500 US-1800-9000 Omega250 1800 3600 9000 9000 US-3600-18000 Omega250...
Page 249: Analog Output
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.19.4 Analog Output Table 5.112— Omega250 Analog Output (US) Standard Tx,Ty,Tz Tx,Ty,Tz Fx,Fy Fx,Fy Sensor (lbf) (lbf) (lbf-in) (lbf/V) (lbf/V) (lbf-in/V) Calibration US-900-4500 Omega250 ±900 ±1800 ±4500 US-1800-9000 Omega250 ±1800 ±3600 ±9000 US-3600-18000 Omega250 ±3600...
Page 250: Omega250 (Us Calibration Complex Loading) (Includes Ip60/Ip65/Ip68)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 Help Omega250 IP60/IP65/IP68 5.19.6 Omega250 (US Calibration Complex Loading) (Includes IP60/IP65/IP68) US-900-4500 US-1800-9000 US-3600-18000 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 251: Omega250 (Si Calibration Complex Loading) (Includes Ip60/Ip65/Ip68)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 Help Omega250 IP60/IP65/IP68 5.19.7 Omega250 (SI Calibration Complex Loading) (Includes IP60/IP65/IP68) SI-4000-500 SI-8000-1000 SI-16000-2000 Note: 1. For IP68 version see caution on physical properties page. Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • •...
Page 252: Omega250 Ip60 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.19.8 Omega250 IP60 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 253: Omega250 Ip65 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.19.9 Omega250 IP65 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 254: Omega250 Ip68 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.19.10 Omega250 IP68 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 255: Omega331 Specifications (Includes Ip65)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.20 Omega331 Specifications (Includes IP65) 5.20.1 Omega331 Physical Properties (Includes IP65) Table 5.114—Omega331 Physical Properties (Includes IP60/IP65) (US) Standard Units (SI) Metric Units Single-Axis Overload ±53000 lbf ±240000 N ±120000 lbf ±520000 N ±280000 inf-lb ±32000 Nm ±320000 inf-lb ±36000 Nm Stiffness (Calculated) X-axis & Y-axis forces (Kx, Ky) 6.9x10 lb/in 1.2x10 Z-axis force (Kz) 7.3x10 lb/in...
Page 256: Calibration Specifications (Excludes Ctl Calibrations)
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.20.2 Calibration Specifications (excludes CTL calibrations) 1, 2 Table 5.115— Omega331 Calibrations (excludes CTL calibrations) (US) Standard Fx,Fy Tx,Ty Fx,Fy Tx,Ty Sensor (lbf) (lbf) (lbf-in) (lbf-in) (lbf) (lbf) (lbf-in) (lbf-in) Calibration US-2250-13000 Omega331 2250 5250 13000 13000 3 3/4 1 7/8 US-4500-26000 Omega331 4500...
Page 257: Analog Output
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.20.4 Analog Output Table 5.117— Omega331 Analog Output (US) Standard Tx,Ty,Tz Tx,Ty,Tz Fx,Fy Fx,Fy Sensor (lbf) (lbf) (lbf-in) (lbf/V) (lbf/V) (lbf-in/V) Calibration US-2250-13000 Omega331 ±2250 ±5250 ±13000 1300 US-4500-26000 Omega331 ±4500 ±10500 ±26000 1050 2600...
Page 258: Omega331 (Us Calibration Complex Loading) (Includes Ip65)
F/T Transducer Installation and Operation Manual Help Omega331 Document #9620-05-Transducer Section-20 5.20.6 Omega331 (US Calibration Complex Loading) (Includes IP65) US-2250-13000 US-4500-26000 US-9000-52000 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 259: Omega331 (Si Calibration Complex Loading) (Includes Ip65)
F/T Transducer Installation and Operation Manual Help Omega331 Document #9620-05-Transducer Section-20 5.20.7 Omega331 (SI Calibration Complex Loading) (Includes IP65) SI-10000-1500 SI-20000-3000 SI-40000-6000 Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 260: Omega331 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.20.8 Omega331 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 261: Omega331 Ip65 Transducer Drawing
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 5.20.9 Omega331 IP65 Transducer Drawing Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • • Email: www.ati-ia.com info@ati-ia.com...
Page 262: Advanced Topics
F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 6. Advanced Topics 6.1 Reducing Noise Mechanical Vibration 6.1.1 In 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.
Page 263 F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 6.3.2 Periodic Calibration Periodic 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.
Page 264 F/T Transducer Installation and Operation Manual Document #9620-05-Transducer Section-20 7. Terms and Conditions of Sale The 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.

ATI Technologies Wireless F/T Compilation Of Manuals

Table of Contents

Foreword

Glossary

1 Safety

2 System Overview

3 Initial Configuration And Installation Of The Wireless F/T System

4 Installing the Transducer

5 Command Interface

6 Maintenance

7 Troubleshooting

8 Serviceable Parts

9 Specifications

10 Regulatory Information

11 Drawings

12 Terms and Conditions of Sale

Initial Configuration Using A Telnet Program

Introduction

Definitions

Wireless F/T Digital Input Sampling

Wireless F/T Analog Input Sampling

Wireless F/T Analog Input Calibration

Troubleshooting

Table of Contents

Glossary of Terms

1 Safety

2 Product Overview

3 Installing the Transducer

4 Topics

5 Transducer Specifications

6 Advanced Topics

Quick Links

Chapters

Troubleshooting

Need help?

Questions and answers

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Summary of Contents for ATI Technologies Wireless F/T