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Summary of Contents for Kistler 9306A
- Page 1 Instruction Manual 6-Axis force/ torque sensor Type 9306A Type 9306A31 Type 9306A41 9306A_002-873e-07.23...
- Page 3 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 4: Table Of Contents
ForewordContent Content Introduction ........................... 4 Important notes ..........................5 For your safety ........................5 Unpacking ..........................6 Notes on handling the instrument ..................6 Tips on the use of these operating instructions ..............7 ... - Page 5 Introduction 10.4 Frequency range ......................... 39 10.5 Influence of temperature ....................40 Total pages 41 9306A_002-873e-07.23 Page 3...
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Page 6: 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 7: 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 8: Unpacking
ForewordContent 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 9: 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 10: General Description Of The Instrument
Ground reaction forces in biomechanics Vehicle forces on a road and a test stand Force/torque 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-07.23... -
Page 11: Functional Principle
General description of the instrument Functional principle The force and moment/torque to be measured is intro- duced via a top plate and distributed on the various crystal disks arranged between top and base plates. For each sig- nal, 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 12: Assembly, Installation And Initial Start-Up
To measure all 6 components of a force/torque vec- tors the Type 9306A has to be mounted on a founda- tion plate (table). The force and torque to be measured are normally applied via a machine component. The lat- ter has to be fixed firmly to the top plate. - Page 13 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-07.23 Page 11...
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Page 14: 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: 6-Axis Force/Torque Sensor Type 9306A Page 12 9306A_002-873e-07.23... - Page 15 Application example The intention is to install a 6-axis force/torque sensor Type 9306A in the wrist of a robotic arm. In such a case, there are only few calculations to be performed. Unlike in the case of a dynamometer – where the mo- ment/torque have to be calculated from the forces and the distances between the sensors.
- Page 16 ForewordContent Important: Be aware, that the reference point/height of force and moments are not identical. This is out of design reasons, since the quartzes for force and torque measurements are stacked above each other. Therefore, the reference height of the measured value is at the center of the corresponding plug connection at the sensor.
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Page 17: Load Specifications
Fx and Fy (s. above) torsional moment, resulting from the offset forces bending moment, vector sum of Mx and My, resulting from the offset forces Preload 9306A: 140kN / 70% Preload 9306A31: 50kN / 25% Preload 9306A41... - Page 18 12kN Offset az: -55mm Offset ar: Fig. 6: Sensor Type 9306A is in overload, because the ap- plied bending moment of 444.1Nm is above the lim- it of 403Nm at the total axial force Fv + Fzp of 152kN (top right quadrant) --> the bending mo- ment must be reduced or another sensor has to be chosen.
- Page 19 Measuring range Fig. 7: The Sensor 9306A31 is in overload, because the shear force exceeds the allowed limit defined by Fz and M (top left quadrant), and thus above the limit in the bottom left quadrant as well --> either the shear force or the bending moment must be reduced, or another sensor has to be chosen.
- Page 20 ForewordContent Fig. 8: The sensor 9306A41 suits the specified loads, since all operating points (orange) are below the red lim- its. Page 18 9306A_002-873e-07.23...
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Page 21: Measuring Chain With 6-Axis Force/Torque Sensor
Measuring range Measuring chain with 6-axis force/torque 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 9306A_002-873e-07.23 Page 19... -
Page 22: Operation
ForewordContent 6. Operation Range selection It is advisable to use charge amplifiers with sensitivity ad- justment (e.g. Type 5167A...) with the 6-axis force/torque 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 23 Operation 1) 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 24: Useful Frequency Range
ForewordContent 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 25 Operation 1) 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 26: Piezoelectric Force Measurement
ForewordContent 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 27 Operation 1) 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 28 ForewordContent 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 29: Hints For Better Measuring Results
Operation 1) 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. Warm-up charge amplifier for at least one hour. ... -
Page 30: 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 31 These surfaces should not be further machined! Visible scratches and notches can be leveled with a whetstone. 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. 9306A_002-873e-07.23...
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Page 32: 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 33: Technical Data
The document can be downloaded from our webpage www.kistler.com Optional accessories The following accessories can be obtained for sensor Type 9306A: Fig. 10: Connecting cable Type 1698ABB... (top) and cable Type 1698ABW... (bottom) with 90 ° angled V3 sensor connectors 9306A_002-873e-07.23... - Page 34 ForewordContent Fig. 11: Cleaning and insulation spray 250 ml Type 1003 Fig. 12: Insulation tester Type 5493 Page 32 9306A_002-873e-07.23...
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Page 35: 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 36 ForewordContent 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. Drift Unwanted changes in the output signal independent of the measurand as a function of time.
- Page 37 (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 38: Measurement Uncertainty
1 % FSO Industrial charge amplifier Higher accuracy can be achieved with the following proce- dures: Calibration in the Kistler factory Calibration with charge amplifier Type 5395A Restriction of the temperature range Random errors, precision, reproducibility Precision or reproducibility is the extent of conformity between independent data measured under specified con- ditions. -
Page 39: 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 40 ForewordContent 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 charge amplifier ) = calibration curve, rising and falling ...
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Page 41: 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 42: Influence Of Temperature
ForewordContent 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 43 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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