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Summary of Contents for Kistler 9306A
- Page 1 Instruction Manual 6-Axis Force/ Moment Sensor Type 9306A Type 9306A31 9306A_002-873e-11.19 This datasheet has been downloaded from http://www.digchip.com at this page...
- Page 2 Instruction Manual 6-Axis Force/ Moment Sensor Type 9306A Type 9306A31 9306A_002-873e-11.19...
- Page 4 Information in this document is subject to change without notice. Kistler reserves the right to change or improve its products and make changes in the content without obliga- tion to notify any person or organization of such changes or improvements.
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Page 5: Table Of Contents
Troubleshooting ......................... 27 If your sensor is defective ....................27 Technical data ..........................28 Dimensions 6-Axis Force/Moment Sensor Type 9306A ............28 Optional accessories ......................29 Annex ............................31 ... - Page 6 Content 10.5 Influence of temperature ....................38 Total pages 39 9306A_002-873e-11.19 Page 3...
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Page 7: Introduction
Please take the time to thoroughly read this instruction manual. It will help you with the installation, maintenance, and use of this product. Kistler offers a wide range of products for use in measuring technology: Piezoelectric sensors for measuring force, torque, strain,... -
Page 8: Important Notes
Important notes 2. Important notes It is essential for you to study the following information, compliance with which is for your personal safety during the work and will ensure long, fault-free operation of the instrument. For your safety This instrument has been thoroughly tested and has left the factory in a perfectly safe condition. -
Page 9: Unpacking
6-Axis Force/Moment Sensor, Type 9306A Unpacking Check all packaging for transport damage. Report any such damage to the transporters and to the authorized Kistler distributor. Notes on handling the instrument The sensor must be used only under the environmental and operating conditions specified. -
Page 10: Tips On The Use Of These Operating Instructions
We recommend you to read through the entire operating instructions. However, if you are in a hurry and already have experience with Kistler force links, you can restrict yourself to the specific information needed. We have endeavored to give these instructions a neat layout to make it easy for you to gain direct access to the information you require. -
Page 11: General Description Of The Instrument
Ground reaction forces in biomechanics Vehicle forces on a road and a test stand Forces/moments on a wind tunnel balance Wind tunnel application Fig. 1: Setup of Type 9306A for wind tunnel (before in- stallation) Page 8 9306A_002-873e-11.19... -
Page 12: Functional Principle
General description of the instrument Functional principle The force and moment to be measured is introduced via a top plate and distributed on the various crystal disks ar- ranged between top and base plates. For each signal, two quartz layers per signal are used. The force part contains three pairs of quartz plates, of which one is sensitive to pressure in the z direction and the two others to shear forces in the x and y directions. -
Page 13: Assembly, Installation And Initial Start-Up
To measure all 6 components of a force/moment vec- tors the Type 9306A has to be mounted on a founda- tion plate (table). The force and moment to be meas- ured are normally applied via a machine component. - Page 14 Assembly, installation and initial start-up Fig. 3: Mounting the top plate with 8 each M8 screws through the top plate. Recommended tightening torques for fixing screws Thread Property class Tightening torques ISO898/1 N·m 10,9 12,9 9306A_002-873e-11.19 Page 11...
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Page 15: Measuring Range
– (–a )) – F Any force-free torques must also be considered. az0 = 45 mm (sensor center) azMx = 46,2 mm (lever Mx) azMy = 49,6 mm (lever My) Fig. 4: Multi-component measuring system Type 9306A Page 12 9306A_002-873e-11.19... - Page 16 Measuring range az0 = 22,5 mm (sensor center) azMx = 23,7 mm (lever Mx) azMy = 27,1 mm (lever My) Fig. 5: Multi-component measuring system Type 9306A31 Application example The intention is to install a 6-axis force/moment sensor Type 9306C in the wrist of a robotic arm. In such a case, there are only few calculations to be performed.
- Page 17 Therefore, the reference height of the measured value is at the center of the corresponding plug connection at the sensor. Fig. 6: Dimension of Type 9306A Fig. 7: Dimension of Type 9306A31 Page 14 9306A_002-873e-11.19...
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Page 18: Load Diagram
Measuring range Load Diagram For some load configurations, increased loads are acceptable. These can be estimated with the following load diagram. Fig. 8: Load nomogram of Type 9306A… 9306A_002-873e-11.19 Page 15... -
Page 19: Measuring Chain With 6-Axis Force/Moment Sensor
6-Axis Force/Moment Sensor, Type 9306A Measuring chain with 6-axis force/moment sensor Type 9306A Cable Type 1698ABB... LabAmp Type 5167AB… For detailed and actual cabling overview, please refer to the cable datasheet Doc. No. 000-545. Cabling Page 16 9306A_002-873e-11.19... -
Page 20: Operation
Operation 1) 6. Operation Range selection It is advisable to use charge amplifiers with sensitivity ad- justment (e.g. Type 5167A...) with 6-axis force/moment sensors. Measuring small force changes The piezoelectric method of measurement allows very accurate measurement of small force changes when there is large preload present at the same time. - Page 21 6-Axis Force/Moment Sensor, Type 9306A a Set the amplifier to <Reset>. Select the range for F as fol- lows: 1 · 10 N/V (amplifier to <Long Time Constant>). b Switch the amplifier to <Operate>. c Apply F (start machine tool) d After reading and/or recording the force, switch the amplifier back to <Reset>...
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Page 22: Useful Frequency Range
Operation 1) Useful frequency range At the upper frequency limit, the frequency response of the dynamometer reveals relatively little vibration damping. Frequencies can be triggered up to about a third of the natural frequency without excessive measuring errors. The lower frequency limit is determined by the drift of the charge amplifier and the quality of the insulation. - Page 23 6-Axis Force/Moment Sensor, Type 9306A Rule The better the mounting of the measuring device (force link, dynamometer) on a base structure and the firmer the attachment of the force introduction parts – the higher is the resonant frequency and the wider is the usable fre- quency range.
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Page 24: Piezoelectric Force Measurement
Operation 1) Piezoelectric force measurement Accuracy The question of accuracy of a piezoelectric measuring chain can not be answered easily by giving a number. In addition to the specified errors of sensor and charge amplifier, tem- perature and other environmental conditions influence the measuring result. - Page 25 6-Axis Force/Moment Sensor, Type 9306A Temperature error Due to a charge in temperature, the force sensor experi- ences internal temperature stresses resulting in a measuring error. We define this error as: Temperature Error [N/°C] The magnitude of the error depends on the sensor and on the preload elements and can be determined for a force link by tests.
- Page 26 Operation 1) Cable Cables and connectors must be kept clean and dry. Other- wise the electrical drift increases. Drift of the measuring chain can be measured in operating mode without loading the sensors. If the electrical drift val- ues are higher then specified the insulation of the measur- ing chain is not sufficient.
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Page 27: Hints For Better Measuring Results
6-Axis Force/Moment Sensor, Type 9306A Hints for better measuring results Store dynamometer in the same room where the meas- urement takes place. Leave connecting cable permanently connected to the dynamometer. Mount dynamometer and force introducing parts firmly. -
Page 28: Maintenance
"Calibration the key to your quality assurance" Doc. No. 16.001e. This recalibration should be carried out in the manufac- turer's factory. In such cases, please contact your Kistler distributor. Maintenance work Please study the following notes on maintenance of your force link: ... - Page 29 Clean plug connectors of the sensor or connecting cable regularly with a cleaning agent such as the Kistler clean- ing and insulating spray Type 1003 or white petroleum. Page 26...
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Page 30: Rectifying Faults
If it appears that major repairs will be necessary, obtain a estimate of the cost. Kistler will try to repair your sensor in the shortest possi- ble time and at minimum cost and to return it to you in an as new condition. -
Page 31: Technical Data
Please note that all technical data and all additional infor- mation are available on the datasheet. The document can be downloaded from our webpage www.kistler.com Dimensions 6-Axis Force/Moment Sensor Type 9306A Fig. 10: Dimensions of 6-Axis Force/Moment Sensor Type 9306A Page 28... -
Page 32: Optional Accessories
Technical data Optional accessories The following accessories can be obtained for sensor Type 9306A: Fig. 11: Connecting cable Type 1698ABB... (top) and cable Type 1698ABW... (bottom) with 90 ° angled V3 sensor connectors 9306A_002-873e-11.19 Page 29... - Page 33 6-Axis Force/Moment Sensor, Type 9306A Fig. 12: Cleaning and insulation spray 250 ml Type 1003 Fig. 13: Insulation tester Type 5493 Page 30 9306A_002-873e-11.19...
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Page 34: Annex
The capacitance, and thus the length of the connecting Cable capacitance cable, has no influence on the measuring result when Kistler special cables and Kistler charge amplifiers are used. Calibrated measuring range Measuring range or part of the measuring range for which the sensor has been calibrated. - Page 35 6-Axis Force/Moment Sensor, Type 9306A Disturbance Forces, moments and environmental influences acting on the sensor such as the temperature, which the sensor does not measure as a measurand and which produce an output signal (error). Example: when an additional bending mo- ment acts on a force sensor.
- Page 36 (picocoulomb) piezoelectric The characteristic of quartz crystals in which mechanical loading produces a proportional electric charge. quasistatic Describes the ability of Kistler sensors and charge amplifiers to undertake short-term measurements or DC-similar mea- surements. Range see "Measuring range" Output voltage per unit of the measurand at the analog or Scaling monitor output of a charge amplifier.
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Page 37: Measurement Uncertainty
6-Axis Force/Moment Sensor, Type 9306A 10.2 Measurement uncertainty Systematic errors, accuracy Accuracy is the extent of the conformity between a meas- ured value and a true value of the measurand. In a piezoe- lectric measuring chain it is determined by many systematic errors, such as ... -
Page 38: Linearity
Errors due to zero drift caused by influences changing with time, such as the tem- perature, are thus basically excluded. With Kistler piezoelectric measuring chains, a typical repeata- bility within 0,1 % FSO can be assumed. 10.3 Linearity... - Page 39 6-Axis Force/Moment Sensor, Type 9306A Best straight line – mathematical definition The minimization of maximum deviation is known as Che- byshev’s approximation. The best straight line is deter- mined as follows: = measurand (reference) = sensor charge signal or output signal from the...
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Page 40: Frequency Range
Annex 10.4 Frequency range Because of their mechanical quality, piezoelectric sensors have very low damping. The useful frequency range is lim- ited in the upwards direction by the increasing resonance rise. Key: f Measuring frequency Natural frequency Amplitude ratio The following approximate values apply to the amplitude error or achievable accuracy as a function of frequency: ... -
Page 41: Influence Of Temperature
6-Axis Force/Moment Sensor, Type 9306A In their dynamic behavior, piezoelectric sensors are superior to all other measuring methods. Their high rigidity results in the highest possible natural frequencies. Piezoelectric sensors are thus ideal for measuring measurands which change rapidly over time. Their dynamic behavior is there- by largely determined by the surrounding structure. - Page 42 Annex Temperature gradient error (dynamic error) A temporary change in the output signal is denoted as temperature gradient error, when the temperature of the environment or surrounding medium changes with a cer- tain rate. In this case, the sensor is not in thermal equilibri- um with the environment.
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