Force Sensor Specifications - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

3 Force Sense Function System Specifications

3.6 Force Sensor Specifications

The force sensor specifications are as follows.
Item
Model
Fx, Fy, Fz
Rated load (*1)
Mx, My, Mz
Fx, Fy, Fz
Resolution
Mx, My, Mz
Fx, Fy, Fz
Minimum control
force (*2)
Mx, My, Mz
Linearity
Hysteresis
Other axis sensitivity
Fx, Fy, Fz
Zero temperature
properties
Mx, My, Mz
Consumption current
Output form
Weight (sensor unit)
External dimensions
Material
Color
Temperature
Operating
environment
Humidity
*1: When 1F-FS001-W200 is used with RV-7/13/20F robot, the moment beyond the moment rated load of the force sensor is
applied if the tool/workpiece of the robot's maximum load mass is grasped and its hand posture is set vertically to the
installation surface (the robot set on the floor). Use the force sensor with the hand posture at which the moment does not
exceed the moment rated load (for example, with the hand posture facing downward).
*2: Minimum value of force or moment for force sense control.
Caution
3-14 Force Sensor Specifications
Table 3-4: Force sensor specifications
Unit
- 1F-FS001-W200
N
Nm
N
Nm Approx. 0.0006
N
Nm
%FS
%FS
%FS
%FS/°C
%FS/°C
mA
-
g
mm
-
-
°C
%RH
When a load beyond the rated load is applied repeatedly, distortion occurs
gradually inside the sensor. Therefore, the force does not be detected precisely.
Use the force sensor with a load within the rated range.
Specification Value
1F-FS001-W1000
200
4
Approx. 0.03 Approx. 0.15
Approx. 0.0046
0.3
0.03
3
3
5
±0.2
±0.2
200
RS422
360
∅80 x 32.5 ∅90 x 40
Aluminum alloy
Black
0 to 50
95 or less
Remarks
Be sure to set the
1000
value within the rated
load to the
FSLMTMX (force
30
sensor permissible
value) parameter.
This value can be
changed by the
FSMINCTL (force
sensor minimum
control force)
parameter.
(Controller Ver.
R6h/S6h or later)
580
See outline drawing.