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Chapter 1 Force Sensor Specifications and Configuration
1.1 Force Sensor Specifications
There are two types (rated load: 200 N and 1000 N) of force sensors.
(1) Specifications of the force sensor
Item
Model
Fx, Fy, Fz
Rated load (*1)
Mx, My, Mz
Resolution
Fx, Fy, Fz
(Minimum
Mx, My, Mz
control force)
Fx, Fy, Fz
Minimum
control
Mx, My, Mz
force (*2)
Consumption current
Output form
Weight (sensor unit)
External dimensions
Protective structure
*1: When 1F-FS001-W200 is used with RV-7/13/20FR
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
Unit
-
1F-FS001-W200
N
Nm
N
Approx. 0.03
Nm
Approx. 0.0006
N
Nm
mA
-
g
mm
φ 80× 32 .5
-
When a load beyond the rated load is applied repeatedly, distortion occurs
gradually inside the sensor. Therefore, the force cannot be detected precisely.
Use the force sensor with a load within the rated range.
Specification Value
1F-FS001-W1000
200
1000
4
30
Approx. 0.15
Approx. 0.0046
0.3
0.03
200
RS422
360
580
φ 90× 40
IP30
, RV-7/13/20F
-3-
Remarks
Be sure to set the
value within the rated
load to the FSLMTMX
(force sensor permissible
value) parameter.
This value can be
changed by the
FSMINCTL (force sensor
minimum control force)
parameter.
robot, the moment beyond the
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