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Chapter 2 Attaching the Force Sensor
A dedicated "sensor attachment adapter" is required to fix the force sensor to the robot.
Attach the sensor attachment adapter to the robot mechanical interface before installing the force
sensor.
After installing the force sensor, it is necessary to define the relation between the force sensor
coordinate system and robot coordinate system in the parameter setting.
2.1 Attaching the Sensor Attachment Adapter
Attach the sensor attachment adapter to the robot mechanical interface with the following method.
Mechanical interface
Attaching method of the sensor attachment adapter
Mechanical interface
Sensor attachment adapter
RV-2/4/7FR:
5 pin
∅
RV-13/20FR:
6 pin
∅
-15-
3 pin
∅
Hexagon socket head screw
RV-2/4/7FR: M5 x 12
RV-13/20FR: M6 x 14
3 pin
∅
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