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Engineered Products for Robotic ProductivityPinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: +1-919.772.0115 • Fax: +1-919.772.8259 • www.ati-ia.com
F/T Transducer
Six-Axis Force/Torque Sensor System
Installation and Operation Manual
Document #: 9620-05-Transducer Section
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com2
ForewordInformation contained in this document is the property of ATI Industrial Automation, Inc. and shall not be reproduced in whole or in part without prior written approval of ATI Industrial Automation, Inc. The information herein is subject to change without notice and should not be construed as a commitment on ATI Industrial Automation, Inc. This manual is periodically revised to reflect and incorporate changes made to the F/T system.
ATI Industrial Automation, Inc. assumes no responsibility for any errors or omissions in this document. Users’ critical evaluation is welcome to assist in the preparation of future documentation.
©Copyright 2019 by ATI Industrial Automation. All rights reserved.
In consideration that ATI Industrial Automation, Inc. (ATI) products are intended for use with robotic and/or automated machines, ATI does not recommend the use of its products for applications wherein failure or malfunction of an ATI component or system threatens life or makes injury probable. Anyone who uses or incorporates ATI components within any potentially life threatening system must obtain ATI’s prior consent based upon assurance to ATI that a malfunction of ATI’s component does not pose direct or indirect threat of injury or death, and (even if such consent is given) shall indemnify ATI from any claim, loss, liability, and related expenses arising from any injury or death resulting from use of ATI components.
All trademarks belong to their respective owners. Windows is registered trademarks of Microsoft Corporation.
FCC Compliance - Class A
This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation.
CE Conformity
CTL TransducersThis device complies with EMC Directive 89/336/EEC and conforms to the following standards: EN50081-1:1992, EN50082-1:1992, CISPR 22:1993 (EN55022:1994), IEC 1000-4-2:1995, IEC 1000-4-3:1995, IEC 1000-4-4:1995DAQ TransducersThis device complies with EMC Directive 89/336/EEC and conforms to the following standards: EN55011:1998, ANSI C63.4:1992, EN61000-4-2:1995, EN61000-4-3:1995, EN61000-4-4:1995, EN61000-4-6:1995. Net F/T TransducersThis device complies with EMC Directive 2004/108/EC and conforms to the following standards: EN61326:1997+A1:1998+A2:2000,EN55022:1998_A1:2000+A2:2003, EN61000-4-2:1995+A1:1998+A2:2001, EN61000-4-3:2000, EN61000-4-4:2004, EN610000-4-5:1995+A1:1996, EN61000-4-6:1996+A1:2001, EN61000-4-8:1995, EN61000-4-11:2001.TWE TransducersThis device complies with EMC Directive 89/336/EEC and conforms to the following standards: EN50081-1:1992, EN50082-1:1992, CISPR 22:1993 (EN55022:1994), IEC 1000-4-2:1995, IEC 1000-4-3:1995, IEC 1000-4-4:1995
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com3
NotePlease read the manual before calling customer service. Before calling, have the following information available:
1. Serial number (e.g., FT01234)
2. Transducer model (e.g., Nano17, Gamma, Theta, etc.)
3. Calibration (e.g., US-15-50, SI-65-6, etc.)
4. Accurate and complete description of the question or problem
5. Computer and software information. Operating system, PC type, drivers, application software, and other relevant information about your configuration.
If possible, be near the F/T system when calling.
How to Reach Us:
Sale, Service and Information about ATI products:
ATI Industrial Automation 1041 Goodworth Drive Apex, NC 27539 USA www.ati-ia.com Tel: +1.919.772.0115 Fax: +1.919.772.8259 Application Engineering Tel: +1.919.772.0115, Extension 511 Fax: +1.919.772.8259 E-mail: [email protected]
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com4
Table of ContentsForeword .......................................................................................................................................... 2Glossary ......................................................................................................................................... 121. Safety ....................................................................................................................................... 14
1.1 ExplanationofNotifications ....................................................................................................... 14
1.2 General Safety Guidelines .......................................................................................................... 14
1.3 Safety Precautions ...................................................................................................................... 14
2. Product Overview ................................................................................................................... 153. Installing the Transducer ....................................................................................................... 16
3.1 Transducer Environment ............................................................................................................ 16
3.2 Mounting the Transducer ........................................................................................................... 163.2.1 Interface Plate Design ...................................................................................................... 16
3.2.2 Mounting the Transducer with a Removable Mounting Adapter Plate .............................. 19
3.2.3 Mounting the Transducer with a Non-removable Adapter Plate ....................................... 21
3.3 Routing the Transducer Cable ................................................................................................... 22
4. Topics ...................................................................................................................................... 244.1 Accuracy over Temperature ....................................................................................................... 24
4.2 Tool Transformation Effects ....................................................................................................... 24
4.3 Environmental ............................................................................................................................. 25
4.4 Mux Transducer Input Filter Frequency Response ................................................................. 26
4.5 Transducer Strain Gage Saturation ........................................................................................... 26
5. TransducerSpecifications ..................................................................................................... 275.1 Notes ............................................................................................................................................ 27
5.1.1 AboutCTLCalibrationSpecifications ............................................................................... 27
5.1.2 Complex Loading Graph Description ............................................................................... 27
5.2 Nano17 Titanium ......................................................................................................................... 285.2.1 Nano17 Titanium Physical Properties .............................................................................. 28
5.2.2 CalibrationSpecifications(excludesCTLcalibrations) .................................................... 28
5.2.3 CTLCalibrationSpecifications ......................................................................................... 29
5.2.4 CTL Analog Output ........................................................................................................... 29
5.2.5 CTL Counts Value ............................................................................................................ 29
5.2.6 Nano17Titanium(USCalibrationComplexLoading) ....................................................... 30
5.2.7 Nano17Titanium(SICalibrationComplexLoading) ........................................................ 31
5.2.8 Nano17 Titanium Transducer Drawing ............................................................................. 32
5.3 Nano17Specifications(IncludesIP65/IP68Versions) ............................................................. 335.3.1 Nano17 Physical Properties ............................................................................................. 33
5.3.2 Nano17 IP65/IP68 Physical Properties ............................................................................ 33
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5.3.3 CalibrationSpecifications(excludesCTLcalibrations) .................................................... 34
5.3.4 CTLCalibrationSpecifications ......................................................................................... 35
5.3.5 CTL Analog Output ........................................................................................................... 35
5.3.6 CTL Counts Value ............................................................................................................ 35
5.3.7 Nano17(USCalibrationComplexLoading)(IncludesIP65/IP68)1 .................................. 36
5.3.8 Nano17(SICalibrationComplexLoading)(IncludesIP65/IP68)1 .................................... 37
5.3.9 Nano17-E Transducer Drawing ........................................................................................ 38
5.3.10 Nano17 IP65/IP68 Transducer with Axial Cable Exit Drawing ......................................... 39
5.3.11 Legacy Nano17 Transducer Drawing ............................................................................... 40
5.4 Nano25Specifications(IncludesIP65/IP68Versions) ............................................................. 415.4.1 Nano25 Physical Properties ............................................................................................. 41
5.4.2 Nano25 IP65/IP68 Physical Properties ............................................................................ 41
5.4.3 CalibrationSpecifications(excludesCTLcalibrations) .................................................... 42
5.4.4 CTLCalibrationSpecifications ......................................................................................... 43
5.4.5 CTL Analog Output ........................................................................................................... 43
5.4.6 CTL Counts Value ............................................................................................................ 43
5.4.7 Nano25(USCalibrationComplexLoading)(IncludesIP65/IP68)1 .................................. 44
5.4.8 Nano25(SICalibrationComplexLoading)(IncludesIP65/IP68)1 .................................... 45
5.4.9 Nano25-E Transducer Drawing ........................................................................................ 46
5.4.10 Nano25 IP65/IP68 Transducer with Axial Cable Exit Drawing ......................................... 47
5.4.11 Nano25 IP65/IP68 Transducer with Radial Cable Exit Drawing ....................................... 48
5.4.12 Legacy Nano25 Transducer Drawing ............................................................................... 49
5.5 Nano43Specifications ................................................................................................................ 505.5.1 Nano43 Physical Properties ............................................................................................. 50
5.5.2 CalibrationSpecifications(excludesCTLcalibrations) .................................................... 50
5.5.3 CTLCalibrationSpecifications ......................................................................................... 51
5.5.4 CTL Analog Output ........................................................................................................... 51
5.5.5 CTL Counts Value ............................................................................................................ 51
5.5.6 Nano43(USCalibrationComplexLoading) ..................................................................... 52
5.5.7 Nano43(SICalibrationComplexLoading) ....................................................................... 53
5.5.8 Nano43 Transducer Drawing ............................................................................................ 54
5.6 Mini27TitaniumSpecifications .................................................................................................. 555.6.1 Mini27 Titanium Physical Properties ................................................................................ 55
5.6.2 CalibrationSpecifications(excludesCTLcalibrations) .................................................... 55
5.6.3 CTLCalibrationSpecifications ......................................................................................... 56
5.6.4 CTL Analog Output ........................................................................................................... 56
5.6.5 CTL Counts Value ............................................................................................................ 56
5.6.6 Mini27Titanium(USCalibrationComplexLoading) ......................................................... 57
5.6.7 Mini27Titanium(SICalibrationComplexLoading) .......................................................... 58
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5.6.8 Mini27 Titanium Transducer Drawing ............................................................................... 59
5.6.9 Mini27-E Titanium Transducer Drawing ........................................................................... 60
5.7 Mini40Specifications(IncludesIP65/IP68Versions) ............................................................... 615.7.1 Mini40 Physical Properties ............................................................................................... 61
5.7.2 Mini40 IP65/IP68 Physical Properties .............................................................................. 61
5.7.3 CalibrationSpecifications(excludesCTLcalibrations) .................................................... 62
5.7.4 CTLCalibrationSpecifications ......................................................................................... 63
5.7.5 CTL Analog Output ........................................................................................................... 63
5.7.6 CTL Counts Value ............................................................................................................ 63
5.7.7 Mini40(USCalibrationComplexLoading)(IncludesIP65/IP68)1 .................................... 64
5.7.8 Mini40(SICalibrationComplexLoading)(IncludesIP65/IP68)1 ...................................... 65
5.7.9 Mini40-E Transducer Drawing .......................................................................................... 66
5.7.10 Legacy Mini40 Transducer Drawing ................................................................................. 67
5.7.11 Mini40 IP65/IP68 Transducer Drawing ............................................................................. 68
5.8 Mini45TitaniumSpecifications .................................................................................................. 695.8.1 Mini45 Titanium Physical Properties ................................................................................ 69
5.8.2 CalibrationSpecifications(excludesCTLcalibrations) .................................................... 69
5.8.3 CTLCalibrationSpecifications ......................................................................................... 70
5.8.4 CTL Analog Output ........................................................................................................... 70
5.8.5 CTL Counts Value ............................................................................................................ 70
5.8.6 Mini45Titanium(USCalibrationComplexLoading) ......................................................... 71
5.8.7 Mini45Titanium(SICalibrationComplexLoading) .......................................................... 72
5.8.8 Mini45 Titanium Axial Exit Transducer Drawing ............................................................... 73
5.8.9 Mini45 Titanium Right Angle E-Exit Transducer Drawing ................................................. 74
5.9 Mini45Specifications(IncludesIP65/IP68Versions) ............................................................... 755.9.1 Mini45 Physical Properties ............................................................................................... 75
5.9.2 Mini45 IP65/IP68 Physical Properties .............................................................................. 75
5.9.3 CalibrationSpecifications(excludesCTLcalibrations) .................................................... 76
5.9.4 CTLCalibrationSpecifications ......................................................................................... 77
5.9.5 CTL Analog Output ........................................................................................................... 77
5.9.6 CTL Counts Value ............................................................................................................ 78
5.9.7 Mini45(USCalibrationComplexLoading)(IncludesIP65/IP68)1 .................................... 79
5.9.8 Mini45(SICalibrationComplexLoading)(IncludesIP65/IP68)1 ...................................... 80
5.9.9 Mini45-E Transducer Drawing .......................................................................................... 81
5.9.10 Mini45-ERA Transducer Drawing ..................................................................................... 82
5.9.11 Mini45-AE Transducer Drawing ........................................................................................ 83
5.9.12 Mini45 IP65/IP68 Transducer Drawing ............................................................................. 84
5.9.13 Legacy Mini45 Transducer Drawing ................................................................................. 85
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5.10 Mini58Specifications(IncludesIP60/IP65/IP68Versions) ....................................................... 865.10.1 Mini58 Physical Properties ............................................................................................... 86
5.10.2 Mini58 IP60 Physical Properties ....................................................................................... 87
5.10.3 Mini58 IP65/IP68 Physical Properties .............................................................................. 87
5.10.4 CalibrationSpecifications(excludesCTLcalibrations) .................................................... 88
5.10.5 CTLCalibrationSpecifications ......................................................................................... 89
5.10.6 CTL Analog Output ........................................................................................................... 89
5.10.7 CTL Counts Value ............................................................................................................ 90
5.10.8 Tool Transform Factor ...................................................................................................... 90
5.10.9 Mini58(USCalibrationComplexLoading)(IncludesIP60/IP65/IP68)1 ............................ 91
5.10.10Mini58(SICalibrationComplexLoading)(IncludesIP60/IP65/IP68)1 .............................. 92
5.10.11 Mini58 Transducer Drawing .............................................................................................. 93
5.10.12 Mini58 IP60 Transducer Drawing ..................................................................................... 94
5.10.13 Mini58 IP65/IP68 Transducer Drawing ............................................................................. 95
5.11 Mini85Specifications(IncludesIP60Versions) ....................................................................... 965.11.1 Mini85 Physical Properties ............................................................................................... 96
5.11.2 CalibrationSpecifications(excludesCTLcalibrations) .................................................... 96
5.11.3 CTLCalibrationSpecifications ......................................................................................... 97
5.11.4 CTL Analog Output ........................................................................................................... 97
5.11.5 CTL Counts Value ............................................................................................................ 98
5.11.6 Tool Transform Factor ...................................................................................................... 98
5.11.7 Mini85(USCalibrationComplexLoading)(IncludesIP60) ............................................... 99
5.11.8 Mini85(SICalibrationComplexLoading)(IncludesIP60) ............................................... 100
5.11.9 Mini85-E Transducer Drawing ........................................................................................ 101
5.11.10 Mini85 IP60 Transducer with 20mm Through-Hole Drawing .......................................... 102
5.12 GammaSpecifications(IncludesIP60/IP65/IP68Versions) ................................................... 1035.12.1 Gamma Physical Properties ........................................................................................... 103
5.12.2 Gamma IP60 Physical Properties .................................................................................. 103
5.12.3 Gamma IP65 Physical Properties .................................................................................. 104
5.12.4 Gamma IP68 Physical Properties .................................................................................. 104
5.12.5 CalibrationSpecifications(excludesCTLcalibrations) .................................................. 105
5.12.6 CTLCalibrationSpecifications ....................................................................................... 106
5.12.7 CTL Analog Output ......................................................................................................... 106
5.12.8 CTL Counts Value .......................................................................................................... 107
5.12.9 Tool Transform Factor .................................................................................................... 107
5.12.10Gamma(USCalibrationComplexLoading) (IncludesIP60/IP65/IP68)1 ...................................................................................... 108
5.12.11Gamma(SICalibrationComplexLoading) (IncludesIP60/IP65/IP68)1 ...................................................................................... 109
5.12.12 Gamma DAQ/Net Transducer Drawing .......................................................................... 110
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5.12.13 9105-T-Gamma Transducer without Mounting Adapter Drawing ....................................111
5.12.14 Gamma Mounting Adapter Plate Drawing ...................................................................... 112
5.12.15 Gamma IP60 Transducer Drawing ................................................................................. 113
5.12.16 Gamma IP65 Transducer Drawing ................................................................................. 114
5.12.17 ECAT Gamma IP65 Transducer Drawing ....................................................................... 115
5.12.18 Gamma IP68 Transducer Drawing ................................................................................. 117
5.13 DeltaSpecifications(IncludesIP60/IP65/IP68Versions) ....................................................... 1185.13.1 Delta Physical Properties ............................................................................................... 118
5.13.2 Delta IP60 Physical Properties ....................................................................................... 118
5.13.3 Delta IP65 Physical Properties ....................................................................................... 119
5.13.4 Delta IP68 Physical Properties ....................................................................................... 119
5.13.5 CalibrationSpecifications(excludesCTLcalibrations) .................................................. 120
5.13.6 CTLCalibrationSpecifications ....................................................................................... 121
5.13.7 CTL Analog Output ......................................................................................................... 121
5.13.8 CTL Counts Value .......................................................................................................... 121
5.13.9 Delta(USCalibrationComplexLoading)(IncludesIP60/IP65/IP68)1 ............................ 122
5.13.10Delta(SICalibrationComplexLoading)(IncludesIP60/IP65/IP68)1 .............................. 123
5.13.11 Delta DAQ/Net Transducer Drawing .............................................................................. 124
5.13.12 9105-T-Delta Transducer without Mounting Adapter Drawing ........................................ 125
5.13.13 Delta Mounting Adapter Drawing .................................................................................... 126
5.13.14 Delta IP60 Transducer Drawing ..................................................................................... 127
5.13.15 ECAT Delta IP60 Transducer Drawing ........................................................................... 128
5.13.16 Delta IP65 Transducer Drawing ..................................................................................... 130
5.13.17 ECAT Delta IP65 Transducer Drawing ........................................................................... 131
5.13.18 Delta IP68 Transducer Drawing ..................................................................................... 133
5.14 ThetaSpecifications(IncludesIP60/IP65/IP68Versions) ...................................................... 1345.14.1 Theta Physical Properties .............................................................................................. 134
5.14.2 Theta IP60 Physical Properties ...................................................................................... 134
5.14.3 Theta IP65/IP68 Physical Properties .............................................................................. 135
5.14.4 CalibrationSpecifications(excludesCTLcalibrations) .................................................. 136
5.14.5 CTLCalibrationSpecifications ....................................................................................... 136
5.14.6 CTL Analog Output ......................................................................................................... 137
5.14.7 CTL Counts Value .......................................................................................................... 137
5.14.8 Tool Transform Factor .................................................................................................... 137
5.14.9 Theta(USCalibrationComplexLoading)(IncludesIP60/IP65/IP68)1 ........................... 138
5.14.10Theta(SICalibrationComplexLoading)(IncludesIP60/IP65/IP68)1 ............................. 139
5.14.11 Theta DAQ/Net Transducer Drawing .............................................................................. 140
5.14.12 9105-T-Theta Transducer without Mounting Adapter Drawing ....................................... 141
5.14.13 Theta Mounting Adapter Plate Drawing .......................................................................... 142
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5.14.14 Theta IP60 Transducer Drawing ..................................................................................... 143
5.14.15 Theta IP65 Transducer Drawing ..................................................................................... 144
5.14.16 Theta IP68 Transducer Drawing ..................................................................................... 145
5.15 Omega85Specifications(IncludesIP60/IP65/IP68Versions) ................................................ 1465.15.1 Omega85 Physical Properties ........................................................................................ 146
5.15.2 Omega85 IP65/IP68 Physical Properties ....................................................................... 146
5.15.3 CalibrationSpecifications(excludesCTLcalibrations) .................................................. 147
5.15.4 Omega85(USCalibrationComplexLoading)(IncludesIP65/IP68)1 ............................. 148
5.15.5 Omega85(SICalibrationComplexLoading)(IncludesIP65/IP68)1 ............................... 149
5.15.6 Omega85 Transducer Drawing ...................................................................................... 150
5.15.7 Omega85 IP65 Transducer Drawing .............................................................................. 151
5.15.8 Omega85 IP68 Transducer Drawing .............................................................................. 152
5.16 Omega160Specifications(IncludesIP60/IP65/IP68Versions) .............................................. 1535.16.1 Omega160 Physical Properties ...................................................................................... 153
5.16.2 Omega160IP160PhysicalProperties(IncludesECAT) ................................................ 153
5.16.3 Omega160 IP65/IP68 Physical Properties ..................................................................... 154
5.16.4 CalibrationSpecifications(excludesCTLcalibrations) .................................................. 155
5.16.5 CTLCalibrationSpecifications ....................................................................................... 155
5.16.6 CTL Analog Output ......................................................................................................... 156
5.16.7 CTL Counts Value .......................................................................................................... 156
5.16.8 Tool Transform Factor .................................................................................................... 156
5.16.9 Omega160(USCalibrationComplexLoading) (IncludesIP60/IP65/IP68)1 ............................................................................................ 157
5.16.10Omega160(SICalibrationComplexLoading) (IncludesIP60/IP65/IP68)1 ...................................................................................... 158
5.16.11 Omega160 Transducer without Mounting Adapter Drawing ........................................... 159
5.16.12 Omega160 Transducer with 53mm Through Hole ......................................................... 160
5.16.13 Omega160 Transducer with Mounting Adapter Drawing ................................................ 161
5.16.14 Omega160 IP60 Transducer Drawing ............................................................................ 162
5.16.15 ECAT Omega160 IP60 Transducer Drawing .................................................................. 163
5.16.16 Omega160 IP65 Transducer Drawing ............................................................................ 165
5.16.17 Omega160 IP68 Transducer Drawing ............................................................................ 166
5.17 Omega190Specifications(IncludesIP60/IP65/IP68Versions) .............................................. 1675.17.1 Omega190 Physical Properties ...................................................................................... 167
5.17.2 Omega190 IP60 Physical Properties ............................................................................. 167
5.17.3 Omega190 IP65/IP68 Physical Properties ..................................................................... 168
5.17.4 CalibrationSpecifications(excludesCTLcalibrations) .................................................. 169
5.17.5 CTLCalibrationSpecifications ....................................................................................... 169
5.17.6 CTL Analog Output ......................................................................................................... 170
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5.17.7 CTL Counts Value .......................................................................................................... 170
5.17.8 Omega190(USCalibrationComplexLoading) (IncludesIP60/IP65/IP68)1 ............................................................................................ 171
5.17.9 Omega190(SICalibrationComplexLoading) (IncludesIP60/IP65/IP68)1 ............................................................................................ 172
5.17.10 Omega190 DAQ/Net Transducer Drawing ..................................................................... 173
5.17.11 Omega190 IP60 Transducer Drawing ............................................................................ 174
5.17.12 Omega190 IP65 Transducer Drawing ............................................................................ 175
5.17.13 Omega190 IP68 Transducer Drawing ............................................................................ 176
5.18 Omega191Specifications(IncludesIP60/IP65/IP68Versions) .............................................. 1775.18.1 Omega191 Physical Properties ...................................................................................... 177
5.18.2 Omega191 IP60 Physical Properties ............................................................................. 177
5.18.3 Omega191 IP65/IP68 Physical Properties ..................................................................... 178
5.18.4 CalibrationSpecifications(excludesCTLcalibrations) .................................................. 179
5.18.5 CTLCalibrationSpecifications ....................................................................................... 179
5.18.6 CTL Analog Output ......................................................................................................... 180
5.18.7 CTL Counts Value .......................................................................................................... 180
5.18.8 Omega191(USCalibrationComplexLoading) (IncludesIP60/IP65/IP68)1 ............................................................................................ 181
5.18.9 Omega191(SICalibrationComplexLoading) (IncludesIP60/IP65/IP68)1 ............................................................................................ 182
5.18.10 Omega191 DAQ/Net Transducer Drawing ..................................................................... 183
5.18.11 Omega191 IP60 Transducer Drawing ............................................................................ 184
5.18.12 Omega191 IP65 Transducer Drawing ............................................................................ 185
5.18.13 Omega191 IP68 Transducer Drawing ............................................................................ 186
5.19 Omega250Specifications(IncludesIP60/IP65/IP68) .............................................................. 1875.19.1 Omega250PhysicalProperties(IncludesIP60/IP65/IP68) ............................................ 187
5.19.2 CalibrationSpecifications(excludesCTLcalibrations) .................................................. 188
5.19.3 CTLCalibrationSpecifications ....................................................................................... 188
5.19.4 CTL Analog Output ......................................................................................................... 189
5.19.5 CTL Counts Value .......................................................................................................... 189
5.19.6 Omega250(USCalibrationComplexLoading) (IncludesIP60/IP65/IP68)1 ............................................................................................ 190
5.19.7 Omega250(SICalibrationComplexLoading) (IncludesIP60/IP65/IP68)1 ............................................................................................ 191
5.19.8 Omega250 IP60 Transducer Drawing ............................................................................ 192
5.19.9 Omega250 IP65 Transducer Drawing ............................................................................ 193
5.19.10 Omega250 IP68 Transducer Drawing ............................................................................ 194
5.20 Omega331Specifications(IncludesIP65) .............................................................................. 1955.20.1 Omega331PhysicalProperties(IncludesIP65) ............................................................. 195
5.20.2 CalibrationSpecifications(excludesCTLcalibrations) .................................................. 196
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5.20.3 CTLCalibrationSpecifications ....................................................................................... 196
5.20.4 CTL Analog Output ......................................................................................................... 197
5.20.5 CTL Counts Value .......................................................................................................... 197
5.20.6 Omega331(USCalibrationComplexLoading)(IncludesIP65) ..................................... 198
5.20.7 Omega331(SICalibrationComplexLoading)(IncludesIP65) ...................................... 199
5.20.8 Omega331 Transducer Drawing .................................................................................... 200
5.20.9 Omega331 IP65 Transducer Drawing ............................................................................ 201
6. Advanced Topics .................................................................................................................. 2026.1 Reducing Noise ......................................................................................................................... 202
6.1.1 Mechanical Vibration ...................................................................................................... 202
6.1.2 Electrical Interference ..................................................................................................... 202
6.2 DetectingFailures(Diagnostics) ............................................................................................. 2026.2.1 Detecting Sensitivity Changes ........................................................................................ 202
6.3 Scheduled Maintenance ........................................................................................................... 2026.3.1 Periodic Inspection ......................................................................................................... 202
6.3.2 Periodic Calibration ........................................................................................................ 203
6.4 Transducer Cabling ................................................................................................................... 2036.4.1 Calibrations .................................................................................................................... 203
6.4.2 Cabling and Connectors ................................................................................................. 203
6.5 Resolution .................................................................................................................................. 203
7. Terms and Conditions of Sale ............................................................................................. 204
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GlossaryTerm DefinitionAccuracy SeeMeasurementUncertainty.ActiveX Component A reusable software component for the Windows applications.
Calibration The act of measuring a transducer’s raw response to loads and creating data used in converting the response to forces and torques.
CalibrationCertificateA statement that says the equipment measures correctly. These statements usually mean the equipment has been tested against national standards. The statements are produced as a result of calibration or re-calibration.
Compound Loading Any load that is not purely in one axis. Coordinate Frame See Point of Origin DAQ Data Acquisition device.
DAQ F/T An F/T Sensor System that uses industry standard data acquisition fasteners (usuallycomputercards)toconvertthetransducersignalsintodigitaldata.
DoF Degrees of Freedom. See Six Degrees of Freedom. Force The push or pull exerted on an object. FS Full-Scale F/T Force and Torque. F/T Controller The electronics that connect to mux transducers. Fxy The resultant force vector comprised of components Fx and Fy.
Full-Scale Error
A measurement of sensing error. For example, if the calibrated measurement range of a sensor is 100 Newtons and the sensor is accurate to within 1 Newton, that sensor will have a Full-Scale Error of 1% (1%=0.01=1N/100N).
HTC
Fasteners Temperature Compensation. This is a method of improving thetemperatureperformanceoftransducers.Usuallythisreferstospantemperature compensation. Sometimes it also includes offset temperature compensation. HTC is better than STC.
Hysteresis A source of measurement error caused by the residual effects of previously applied loads.
IP60 Ingress Protection Rating “60” designates protection against dust IP65 Ingress Protection Rating “65” designates protection against water spray
IP68 Ingress Protection Rating “68” designates submergibility in fresh water, in this case, to a depth of 10 meters
LabVIEW A graphical programming environment created for data acquisition tasks by National Instruments.
Max. Single-Axis Overload Thelargestamountofloadinasingleaxis(allotheraxesareunloaded)thatthe transducer can withstand without damage.
MAP MountingAdapterPlate.Thetransducer’sMAPattachestothefixedsurfaceor robot arm.
MeasurementUncertainty Themaximumexpectederrorinmeasurements,asspecifiedonthecalibrationcertificate.
Moment When something receives a torque, we say a moment is applied to it.
Mux Short for multiplexer. F/T Controller Sensor Systems use mux electronics to interface to the transducer signals.
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Term Definition
Mux Box A box that holds mux electronics for transducers that are too small for on-board electronics.
Net F/T An F/T Sensor System that connects to the customer’s monitoring equipment via Ethernet or CAN bus or DeviceNet.
NINational Instruments Corporation, the owner of the National Instruments and LabVIEWtrademarks.(www.ni.com)MakerofDataAcquisitionCardsusedbyATI in force sensors.
Offset Compensation Correction of errors that change the zero point of a transducer’s readings.
Overload The condition where more load is applied to the transducer than it can measure. This will result in saturation.
Point of Origin The point on the transducer from which all forces and torques are measured.
QuantizationThe way the continuously variable transducer signal is converted into discreet digitalvalues.Usuallyusedwhendescribingthechangefromonedigitalvalueto the next.
Reaction TorqueTorque applied that does not result in movement. Think of the twisting you attempt to put on a screw or bolt when it does not move. Our transducers sense reaction torque.
Re-calibrationTheperiodicverificationofmeasurementequipment,liketransducers,calipersand voltmeters, to prove it still measures correctly. The equipment may be adjusted if it doesn’t measure correctly.
Resolution The smallest change in load that can be measured. This is usually much smaller than accuracy.
Rotary Torque Torque resulting in something moving. Generally this refers to the torque on things like drive shafts. Our transducers cannot sense rotational torque.
Saturation The condition where the transducer or data acquisition fasteners has a load or signal outside of its sensing range.
Sensor System The entire assembly consisting of parts from transducer to data acquisition card.
Six-axis Force/Torque Sensor
A device that measures the outputting forces and torques from all three Cartesiancoordinates(x,yandz).Asix-axisforce/torquetransducerisalsoknown as a multi-axis force/torque transducer, multi-axis load cell, F/T sensor, or six-axis load cell.
Six Degrees of Freedom Fx, Fy, Fz, Tx, Ty and Tz. Span Compensation Correction of errors that affect the sensitivity of a transducer.
STC Software Temperature Compensation. A method of improving temperature performance of transducers. This method is not as good as HTC.
TAP Tool Adapter Plate. The TAP part of the transducer is attached to the load that is to be measured.
Tool Transformation Mathematically changing the measurement coordinate system by translating the origin and/or rotating the axes.
Torque The measurement of force exerted on an object causing it to rotate.Transducer The component that converts the sensed load into electrical signals. Txy The resultant torque vector comprised of components Tx and Ty.
Visual Basic A Microsoft programming environment for developing Windows-based applications.
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1. SafetyThe safety section describes general safety guidelines to be followed with this product, explanation of the notification found in this manual, and safety precaution that apply to the product. More specific notification are imbedded within the sections of the manual where they apply.
1.1 ExplanationofNotificationsThe notifications included here are specific to the product(s) covered by this manual. It is expected that the user heed all notifications from the robot manufacturer and/or the manufacturers of other components used in the installation.
DANGER: Notificationofinformationorinstructionsthatifnotfollowedwillresultindeathorseriousinjury.Thenotificationprovidesinformationaboutthenatureofthehazardous situation, the consequences of not avoiding the hazard, and the method for avoiding the situation.
WARNING: Notificationofinformationorinstructionsthatifnotfollowedcouldresultindeathorseriousinjury.Thenotificationprovidesinformationaboutthenatureofthehazardous situation, the consequences of not avoiding the hazard, and the method for avoiding the situation.
CAUTION: Notificationofinformationorinstructionsthatifnotfollowedcouldresultinmoderateinjuryorwillcausedamagetoequipment.Thenotificationprovidesinformation about the nature of the hazardous situation, the consequences of not avoiding the hazard, and the method for avoiding the situation.
NOTICE: Notificationofspecificinformationorinstructionsaboutmaintaining,operating,installation, or setup of the product that if not followed could result in damage to equipment. The notificationcanemphasizebutisnotlimitedtospecificgreasetypes,goodoperatingpractices,or maintenance tips.
1.2 General Safety GuidelinesThe customer should verify that the transducer selected is rated for maximum loads and moments expected during operation. Refer to transducer specifications in Section 5—Transducer Specifications of this manual or contact ATI for assistance. Particular attention should be paid to dynamic loads caused by robot acceleration and deceleration. These forces can be many times the value of static forces in high acceleration or deceleration situations.
1.3 Safety PrecautionsCAUTION: Do not remove any fasteners or disassemble transducers without a removable mounting adapter plate. These include Nano, Mini, IP-rated, and some Omega transducers. This will cause irreparable damage to the transducer and void the warranty. Leave all fasteners in place and do not disassemble the transducer.
CAUTION: Do not probe any openings in the transducer. This will damage the instrumentation.
CAUTION: Do not exert excessive force on the transducer. The transducer is a sensitive instrument and can be damaged by applying force exceeding the single-axis overload values of the transducer and cause irreparable damage. Small Nano and Mini transducers can easily be overloaded during installation. Refer to the F/T Transducer manual(9620-05-TransducerSection)forspecifictransduceroverloadvalues.
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2. Product OverviewA transducer is a device that measures the outputting forces and torques from all three Cartesian coordinates (x, y, and z). A six-axis force/torque transducer is also known as a multi-axis force/torque transducer, multi-axis load cell, F/T sensor, or six-axis load cell.
The ATI Multi-Axis Force/Torque Sensor system measures all six components of force and torque. The system consists of a transducer, shielded high-flex cable, and intelligent data acquisition system (Ethernet/DeviceNet interface or F/T controller). Force/Torque sensors are used throughout industry for product testing, robotic assembly, grinding, and polishing. In research, our sensors are used in robotic surgery, haptics, rehabilitation, neurology, and many others applications.
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3. Installing the TransducerThis section will provide information on the environment, transducer IP rating, mounting the transducer, and routing the transducer cable.
3.1 Transducer EnvironmentTo ensure proper operation, the IP rating of the transducer must match or exceed the transducer’s environment. Unless otherwise specified, a transducer has no special IP protection. In this case, the transducer may be used only in benign environments with no dust, debris, liquids, or sprays. Refer to Section 4.1—Accuracy over Temperature for information on the transducer’s temperature performance.
CAUTION: Damage to the outer jacketing of the transducer cable could enable moisture or water to enter an otherwise sealed transducer. Ensure the cable jacketing is in good condition to prevent transducer damage.
NOTICE: Transducersmayreacttoexceptionallystrongandchangingelectromagneticfields,suchasthoseproducedbymagneticresonanceimaging(MRI)machines.
NOTICE: Transducers without an IP protection may exhibit a small offset in readings when exposed to strong light.
3.2 Mounting the TransducerThere are two different mounting methods for transducers. The first method has a fixed bolt pattern on the tool side of the transducer and a removable adapter plate on the mounting (robot or other device) side. The adapter plate needs to be removed from the transducer and machined with the mounting bolt pattern to match the robot or other device. If your device covers the mounting fasteners used to connect the transducer, you will not be able to use the removable adapter plate alone. If this is the case a user designed interface plate will be needed between the transducer and the robot or other device. Refer to Section 3.2.1—Interface Plate Design for more details. Refer to Section 3.2.2—Mounting the Transducer with a Removable Mounting Adapter Plate.The second method is for transducers with non-removable adapter plates with fixed bolt patterns on both the tool and mounting sides of the transducer (Nano, Mini, IP-rated and some Omega transducers). This type may require a user designed interface plate to attach the transducer to the robot or other device. Refer to Section 3.2.1—Interface Plate Design for more details. Refer to Section 3.2.3—Mounting the Transducer with a Non-removable Adapter Plate.
CAUTION: Do not remove any fasteners or disassemble transducers without a removable adapter plate, these include Nano, Mini, IP-rated, and some Omega transducers. This will cause irreparable damage to the transducer and void the warranty. Leave all fasteners in place and do not disassemble the transducer.
Refer to the product drawings in Section 5—Transducer Specifications to determine if the adapter plate is removable for our transducer. Mount the transducer to a structure with sufficient mechanical strength. Not doing so can lead to sub-optimum performance.
3.2.1 Interface Plate DesignInterface plates may be required between the robot or other device and the transducer and between the transducer and the tooling. If the robot, other device, or tooling covers the mounting fasteners for the transducer an interface plate will be required. Custom interface plates are available from ATI upon request.There are two types of mounting adapter plate (robot side). Small transducers such as Nano, Mini, IP-rated and some Omega transducers the mounting adapter plate is factory installed and should not be removed or machined. The mounting interface plate will have to be machined with the corresponding bolt pattern and dowel locations, refer to the drawings in Section 5—Transducer Specifications.
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Larger transducers have a removable mounting adapter plates, refer to Section 3.2.2—Mounting the Transducer with a Removable Mounting Adapter Plate for more information. Machine the mounting interface plate to match the bolt pattern and dowel hole in the removable mounting adapter plate.The transducer tooling adapter plate is factory installed and the bolt circle is shown with the transducer in Section 5—Transducer Specifications. Most large F/T tool adapters follow the ISO 9409-1 mounting pattern. Machine the tooling interface plate to attach to this bolt circle.
NOTICE: The tool may not contact any other part of the transducer except the tool mounting surface. If the tool contacts any other part of the transducer it will not properly sense loads. Make sure the tool mounts to the tool mounting surface and does not contact any other part of the transducer.
If the customer chooses to design and build an mounting or tooling interface plate, the following should be considered:• The interface plate should be designed to include bolt holes for mounting, dowel pins,
and a boss for accurate positioning on the robot or other devices and to the adapter plate. These locating features should orient the X and Y axis of the Transducer to the X and Y axis of the robot.
• The thickness of the interface plate must be great enough to provide the necessary thread engagement for the mounting fasteners.
• Mounting fasteners must not be too long. They should not extend through the adapter plate to avoid interference with the electronics inside the transducer. Refer to Section 5—Transducer Specifications for thread depth, mounting patterns, and other details.
• The interface plate must be properly designed to provide rigid mounting for the transducer. The interface plate should not distort under maximum sensor range of the transducer. Refer to Section 5—Transducer Specifications for specifications.
• The interface plate design must provide a flat and parallel mounting surface for the transducer. Refer to Figure 2.1.
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Figure 2.1—InterfacePlateDesignSpecification
Robot or Other Device
Locating Boss
Customer Designed Mounting Interface Plate
Customer Supplied FastenersDo not extend through Mounting Adapter Plate
TransducerTransducer Mounting
Adapter Plate
Locating Dowel Pin
Transducer Tooling Adapter Plate
Customer Supplied FastenersDo not extend through Tooling Adapter Plate
Customer Designed Tooling Interface Plate
Locating Boss
Locating Boss
Locating Dowel Pin
Tooling
.002
.002 A
.002 A
.002
A
A
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3.2.2 Mounting the Transducer with a Removable Mounting Adapter PlateCheck to see if when mounting the transducer to the robot or other device you will have access to the mounting screws for attaching the transducer. If not, a user designed interface plate will be needed on one or both sides of the transducer, refer to Section 3.2.1—Interface Plate Design for details in designing an interface plate before continuing with this procedure.
1. Remove the power to the transducer.2. Remove all mounting fasteners from the mounting adapter plate and set aside.
CAUTION: Do not touch internal electronics or instrumentation. This could damage the transducer and void the warranty. When the adapter plate is removed protect the exposed electronics from dust, debris, liquids, and other foreign objects.
3. Remove the adapter plate from the transducer. Machine the mounting bolt pattern from the robot, interface plate, or other device into the removable adapter plate. Make sure the bolt pattern and dowel hole orient the X and Y axis of the transducer with the X and Y axis of the robot.
NOTICE: Customers machining their own interface patterns should avoid concentrating all mounting features in the center of the adapter plate. A larger bolt circle will provide the most accurate readings as it will induce less bending in the plate.
CAUTION: Mounting fasteners should not extend into the transducer beyond the adapter plate surface. This could cause damage to the internal electronics. When machining the removable adapter plate, make sure the heads of the fastenersareflushorbelowthesurfaceoftheadapterplate.
Figure 2.2—Removable Adapter Plate
Remove Mounting AdapterPlate from Transducer
CAUTION: Do not touch internal electronics or instrumentation. This could damage the transducer and void the warranty.
Protect exposed electronics from dust, debris and liquids
Remove adapter
Machine mounting bolt pattern and locating dowel hole into mounting adapter plate. Orient
the bolt pattern and dowel hole to align the X and Y axis of the transducer with the X and Y
axis of the robot, tooling, or application orientation as desired.
User supplied mounting screws must be flush or below the surface of the mounting
adapter plate to ensure proper clearance for the electronics inside the transducer.
Machine mounting bolt pattern concentric to mountingadapter plate to maintain transducer's point-of-origin.
plate fasteners
4. Mount removable adapter plate to the robot, other device, or interface plate using customer supplied fasteners. If fasteners do not have pre-applied adhesive, apply Loctite 222® to the fasteners.
NOTICE: Make sure the adapter plate orients the transducer so that the connector is at the appropriate location to route the cabling properly. Refer to Section 3.3—Routing the Transducer Cable.
5. Attach the transducer to the removable adapter plate, hand tighten fasteners.
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6. Connect power to the transducer and wait until demo application displays load data when applying force on the transducer.
CAUTION: Do not exceed the transducer’s overload ratings. Smaller transducers can easily be irreparably damaged by applying small loads using tools(momentarmincreasesappliedloads)whenmountingthetransducer.Always monitor the transducer using the demo application for gage saturation errors during installation. Stop applying force to the transducer and wait until the error clears to continue installation. If error does not clear, it may indicate loss of power or the overload value has been exceeded.
7. Monitor the demo application for gage saturation errors during installation. If an error is displayed stop applying the force to the transducer and wait until the error clears before continuing installation.
8. Tighten the fasteners mounting the transducer to the removable adapter plate.
Figure 2.3—Installing Transducers with Removable Mounting Adapter Plates
Adapter Plate FastenersRemovable Adapter Plate
Mounting Fasteners (Supplied by customer)
Mounting Fasteners (supplied by customer)
Customer Tooling
Computer Running Demo Application
Robot or other Device
Transducer with removable adapter plate
If Required Custom Tooling Interface Plate(supplied by customer)
Mounting Fasteners(supplied by customer)
Mounting Fasteners(supplied by customer)
If Required Custom Mounting Interface Plate(supplied by customer)
CAUTION: Do not use fasteners that will exceed the customer interface depthspecifiedforthetransducer.Usinglongerfastenerswillpenetratethebody of the transducer and damage the electronics, voiding the warranty. Usefastenersthatprovidethecustomerinterfacedepthspecifiedforthetransducer. Refer to the transducer drawing.
NOTICE: The tool may not contact any other part of the transducer except the tool mounting surface. If the tool contacts any other part of the transducer it will not properly sense loads. Make sure the tool mounts to the tool mounting surface and does not contact any other part of the transducer.
9. Monitor the demo application for gage saturation errors during installation. If an error is displayed stop applying the force to the transducer and wait until the error clears before continuing installation.
10. Attach the customer tooling or tooling interface plate to the transducer with customer supplied fasteners, the transducer provides a mounting pattern on the tool side of the transducer. If fasteners do not have pre-applied adhesive, apply Loctite 222 to the fasteners.
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3.2.3 Mounting the Transducer with a Non-removable Adapter Plate
CAUTION: Do not attempt to drill, tap, machine, or otherwise modify or disassemble the transducer. This could damage the transducer and will void thewarranty.Usethemountingboltpatternprovidedtoattachthetransducerto the robot or other device and to mount the tool to the transducer. See the transducer drawings for details.
CAUTION: Do not use fasteners that will exceed the customer interface depthspecifiedonforthetransducer.Usinglongerfastenerswillpenetratethe body of the transducer and damage the electronics, voiding the warranty. Usefastenersthatprovidethecustomerinterfacedepthspecifiedforthetransducer. Refer to the transducer drawing.
CAUTION: Do not exceed the single-axis overload value of the transducer. Smaller transducers can easily be irreparably damaged by applying small loadsusingtools(momentarmincreasesappliedloads)whenmountingthetransducer. Always monitor the transducer using the demo application for gage saturation errors during installation. Stop applying force to the transducer and wait until the error clears to continue installation. If error does not clear, it may indicate loss of power or the overload value has been exceeded.
1. Monitor the demo application for gage saturation errors during installation. If an error is displayed stop applying the force to the transducer and wait until the error clears before continuing installation.
2. Mount transducer to user-designed interface plate, directly to the robot, or other device with customer supplied fasteners. If fasteners do not have pre-applied adhesive, apply Loctite 222 to the fasteners.
Figure 2.4—InstallingTransducerswithNon-removableAdapterPlates(NetF/TSystemShown)
Mounting Fasteners (Supplied by customer)
Mounting Fasteners (supplied by customer)
Customer Tooling
Computer Running Demo Application
Robot or other Device
Transducer
If Required Custom Tooling Interface Plate(supplied by customer)
Mounting Fasteners(supplied by customer)
If Required Custom Mounting Interface Plate(supplied by customer)
NOTICE: The tool may not touch any other part of the transducer except the tool mounting surface. If the tool touches any other part of the transducer it will not properly sense loads. Make sure the tool mounts to the tool mounting surface and does not touch any other part of the transducer.
3. Monitor the demo application for gage saturation errors during installation. If an error is displayed stop applying the force to the transducer and wait until the error clears before continuing installation.
4. Attach the customer tooling or tooling interface plate to the transducer with customer supplied fasteners, the transducer provides a mounting pattern on the tool side of the transducer. If fasteners do not have pre-applied adhesive, apply Loctite 222 to the fasteners.
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3.3 Routing the Transducer CableThe transducer can be used in a variety of applications that will affect how best to route the cable and determine the proper bending radius to use. Some applications will allow the transducer and the cable to remain in a static condition. Some applications require the transducer to be in a dynamic condition that requires the cable to be subjected to repetitive motion. It is important not to expose the transducer cable connectors to this repetitive motion, and properly restrain the cable close to the transducer connection
Figure 2.5—Restrain Transducer Cable Close to Cable Connector
Transducer
Cable Connector
Restrain Cable to keep Repetitive Motion From Affecting the Cable Connector
Allow Enough Slack in Cable for Full Range of Motion of the Robot or Other Device
Interface Plate
Robot (Motion)
Allow Enough Slack in Cable for Full Range of Motion of the Robot or Other Device
CAUTION: Do not subject the transducer cable connector to the repetitive motion of the robot or other device. Subjecting the connector to the repetitive motion will cause damage to the connector. Restrain the cable close to the connector to keep the repetitive motion of the robot from affecting the cable connector.
CAUTION: When routing cables do not bend the cable to a smaller radius thantheminimumbendingradiusspecifiedinTable 2.1. The cable will fail due to fatigue from the repetitive motion. When routing the cable make sure the cablebendsarelargerthentheminimumdynamicbendingradiusspecifiedforthe cable type.
CAUTION: Do not stress or over bend the transducer cable, especially where it is attached to the transducer. This is particularly important on the Nano and Mini series of transducers. For these transducers, do not bend the cable any closerthan25mm(1inch)tothetransducer.Sharpbendsmustbeavoidedasthey can damage the cable and transducer and will void the warranty.
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Figure 2.6—Transducer Bending Radius
25
To protect connector from repetitive motion, restrain
cable at connector end
To protect cable connection from repetitive motion, restrain cable at transducer end
(1 inch)
For Nano and Mini series TransducersDo not bend the cable any closer than 25mm (1 inch) to the transducer
Refer to Table 3.1 for minimum dynamic (cycled) bending
radius (at room temperature)
Refer to Table 3.1 for minimum static bending radius
(at room temperature)
Refer to Table 3.1 for minimum dynamic (cycled) bending radius (at room temperature)
Refer to Table 3.1 for minimum static bending radius (at room temperature)
Table 2.1—Transducer Cable Bending Radius
Cable Type Cable Dia.(mm)
Static Bending Radius(atroomtemperature)
Dynamic Bending Radius(atroomtemperature)
mm inch mm inch9105-TW 3.2 16 0.63 32 1.269105-C3 4.4 22 0.87 44 1.739105-CM 4.4 22 0.87 44 1.739105-CW 4.4 22 0.87 44 1.739105-CT 6.1 30.5 1.20 61 2.40
9105-C
3.2 16 0.63 32 1.264.4 22 0.87 44 1.736.1 30.5 1.20 61 2.40
10.0 50 1.97 100 3.949105-C-MTR 8.4 42 1.65 84 3.319105-C-MTS 8.4 42 1.65 84 3.31
9105-CF-MTR9105-CF-MTS 8.5 42.5 1.67 85 3.35
Note:Temperaturewillaffectcableflexibility.ATIrecommendsincreasingtheminimumdynamicbendingradiusforlower temperatures.
The transducer cable must be routed so that it is not stressed, pulled, kinked, cut, or otherwise damaged throughout the full range of motion. See the accompanying system manual for the transducer cable interfacing. If the desired application results in the cable rubbing, then use a loose plastic spiral wrap for protection.
CAUTION: Be careful not to crush the cable by over tightening tie wraps or walking on the cable, since this may damage the cable.
CAUTION: Cables on the Nano and Mini transducers are permanently attached to the transducer and cannot be disconnected. Do not attempt to disassemble these transducers, this will damage the transducer and void the warranty. Do not attempt to replace the cable. Contact ATI service for assistance.
CAUTION: Nano and Mini integral cables and cables of the 9105-C-H type must not subjectthetransducerendconnectiontomorethan10lbf(45N)ofside-to-sideorpullforce or permanent damage will result.
CAUTION: Larger transducers have removable cables. Do not attempt to disconnect these transducer cables by pulling on the cable itself or the connector boot; this can damage your system.
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4. Topics4.1 Accuracy over Temperature
Typical gain errors introduced over temperature for F/T transducers with fasteners temperature compensation are listed below. These changes in sensitivity are independent of the transducer’s rated accuracy at room temperature; the two accuracy ratings must be added to find an overall estimated accuracy at a certain temperature. This overall accuracy assumes that the unloaded and loaded measurements were taken at the same temperature. Drift error over temperature is not compensated and varies with each transducer. For best results, a reference reading should be taken or bias function executed at the current temperature before applying the load of interest.
Table 3.1—Error Introduced Over Temperature for Non-Gamma TransducersDeviation from 22°C Typical Gain Error
± 5°C 0.1%
± 15°C 0.5%
± 25°C1 1%
± 50°C1 5%Note:
1. Deviation is bounded by transducer operational limits in Section 4.3—Environmental.
Table 3.2—Error Introduced Over Temperature for Gamma Transducers Deviation from 22°C Typical Gain Error
± 5°C 0.1%
± 15°C 0.5%
± 25°C1 1.5%
± 50°C1 7%Note:
1. Deviation is bounded by transducer operational limits in Section 4.3—Environmental
4.2 Tool Transformation EffectsAll transducer working specifications pertain to the factory point-of-origin only. This includes the transducer’s range, resolution, and accuracy. The transducer working specifications at a customer-applied point-of-origin will differ from those at the factory point-of-origin.
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4.3 EnvironmentalThe F/T system is designed to be used in standard laboratory or light-manufacturing conditions. Transducers with an IP60 designation are able to withstand dusty environments, those with an IP65 designation are able to withstand dusty environments and wash down, and those with an IP68 designation are able to withstand dusty environments and fresh-water immersion to a specified depth. Transducers without IP65 or IP68 designation may be used in environments with up to 95% relative humidity, non-condensing.
Table 3.3—Transducer Temperature Ranges - Non-IP-RatedTransducer Model Series Storage Operation Units
9105-TIF Transducer -25 to +85 -25 to +85 °C
9105-TW Transducer -40 to +100 -40 to +100 °C
9105-TW-…-H Transducer -25 to +85 -25 to +85 °C
9105-T Transducer -20 to +80 0 to +70 °C
9105-NET Transducer -40 to +85 -40 to +85 °CNote: These temperature ranges specify the storage and operation ranges in which the transducer can survive
without damage. They do not take accuracy into account.
Table 3.4—Transducer Temperature Ranges - IP60, IP65, and IP68Transducer Model Series Storage Operation Units
9105-TIF Transducer -5 to +75 0 to +60 °C
9105-TW Transducer -5 to +105 -5 to +105 °C
9105-T Transducer -5 to +105 0 to +70 °C
9105-NET Transducer -65 to +105 0 to +70 °CNote: These temperature ranges specify the storage and operation ranges in which the transducer can survive
without damage. They do not take accuracy into account.
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4.4 Mux Transducer Input Filter Frequency Response NOTICE: Mux transducers are only used in 9105-CTL, 9105-CON, and 9105-CTE systems.
The input filter used in 9105-T transducers and in the Mux box is used to prevent aliasing. This filtering is not used in 9105-TIF (DAQ) or our TWE transducers.
Figure 3.1—Muxinputfilterfrequencyresponse(-3dB@235Hz)
3.00
0.00
-3.00
-6.00
-9.00
-12.001 10 100 1000
Gainin dB
Frequency in Hz
4.5 Transducer Strain Gage SaturationThe F/T sensor’s strain gages are optimally placed to share information between the forces and torques applied to the sensor. Because of this sharing, it is possible to saturate the transducer with a complex load that has components below the rated load of the sensor. However, this arrangement allows a greater sensing range and resolution.
CAUTION: When any strain gage is saturated or otherwise inoperable, all transducer F/T readings are invalid. It is vitally important to monitor for these conditions.
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5. TransducerSpecifications5.1 Notes
5.1.1 About CTL CalibrationSpecificationsCTL refers to F/T systems that use the F/T Controller. Transducers used in these systems either have a 9105-T-x model transducer or include a Mux Box. The output resolution of CTL systems is different from other systems. CTL systems also provide analog voltage outputs that represent each of the six axes. CTL transducers have their own calibration specification listings because of these differences.
5.1.2 Complex Loading Graph DescriptionThe graphs in the sections for each transducer may be used to estimate a sensor’s range under complex loading. Each page represents one sensor body with either English or Metric units. The top graph represents combinations of forces in the X and/or Y directions with torques about the Z-axis. The bottom graph represents combinations of Z-axis forces with X- and/or Y-axis torques. The graphs contain several different calibrations, distinguished by line weight.The sample graph shown in Figure 4.1 shows how operating ranges can change with complex loading. The labels indicate the following regions:
A. Normal operating region. You can expect to achieve rated accuracy in this region.B. Saturation region. Any load in this region will report a gage saturation condition.C. Extended operating region. In this region, the sensor will operate correctly but the
full-scale accuracy is not guaranteed.
Figure 4.1—Complex Loading Sample Graph
Tz
Fxy
C
C
B
A
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5.2 Nano17 Titanium5.2.1 Nano17 Titanium Physical Properties
Table 4.1—Nano17 Titanium Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±35 lbf ±160 NFz ±70 lbf ±310 NTxy ±8.9 inf-lb ±1 NmTz ±10 inf-lb ±1.2 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 2.7x104 lb/in 4.8x106 N/m Z-axisforce(Kz) 3.8x104 lb/in 6.6x106 N/m X-axis&Y-axistorque(Ktx,Kty) 1.2x103 lbf-in/rad 1.4x102 Nm/rad Z-axistorque(Ktz) 2.0x103 lbf-in/rad 2.2x102 Nm/rad Resonant Frequency Fx, Fy, Tz 3000 Hz 3000 HzFz, Tx, Ty 3000 Hz 3000 HzPhysicalSpecifications Weight1 0.0223 lb 0.0101 kgDiameter1 0.669 in 17 mmHeight1 0.571 in 14.5 mmNote:
1. Specificationsincludestandardinterfaceplates.
5.2.2 CalibrationSpecifications(excludesCTLcalibrations)Table 4.2—Nano17TitaniumCalibrations(excludesCTLcalibrations)1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Nano17 Titanium US-1.8-0.4 1.8 3.15 0.4 0.4 1/3400 1/2720 7/92800 1/18560Nano17 Titanium US-3.6-0.8 3.6 6.3 0.8 0.8 1/1700 1/1360 7/46400 1/9280Nano17 Titanium US-7.2-1.6 7.2 12.6 1.6 1.6 1/850 1/680 7/23200 1/4640
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz (N)
Tx,Ty (Nmm)
Tz (Nmm)
Fx,Fy (N)
Fz (N)
Tx,Ty (Nmm)
Tz (Nmm)
Nano17 Titanium SI-8-0.05 8 14.1 50 50 1/682 1/682 3/364 5/728Nano17 Titanium SI-16-0.1 16 28.2 100 100 1/341 1/341 3/182 5/364Nano17 Titanium SI-32-0.2 32 56.4 200 200 1/171 1/171 3/92 5/184
Sensing Ranges Resolution(DAQ,NetF/T)3
Notes:1. These system resolutions quoted are the effective resolution after dropping eight counts of noise. The effective
resolutioncanbeimprovedwithfiltering.2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. DAQ resolutions are typical for a 16-bit data acquisition system.
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5.2.3 CTL CalibrationSpecificationsTable 4.3— Nano17 Titanium CTL Calibrations1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Nano17 Titanium US-1.8-0.4 1.8 3.15 0.4 0.4 1/1700 1/1360 7/46400 1/9280Nano17 Titanium US-3.6-0.8 3.6 6.3 0.8 0.8 1/850 1/680 7/23200 1/4640Nano17 Titanium US-7.2-1.6 7.2 12.6 1.6 1.6 1/425 1/340 7/11600 1/2320
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz (N)
Tx,Ty (Nmm)
Tz (Nmm)
Fx,Fy (N)
Fz (N)
Tx,Ty (Nmm)
Tz (Nmm)
Nano17 Titanium SI-8-0.05 8 14.1 50 50 1/341 1/341 3/182 5/364Nano17 Titanium SI-16-0.1 16 28.2 100 100 2/341 2/341 3/91 5/182Nano17 Titanium SI-32-0.2 32 56.4 200 200 2/171 2/171 3/46 5/92
Sensing Ranges Resolution(Controller)Notes:
1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight counts of noise.Theeffectiveresolutioncanbeimprovedwithfiltering.
2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.
5.2.4 CTL Analog OutputTable 4.4— Nano17 Titanium Analog Output
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty,Tz (lbf-in)
Fx,Fy (lbf/V)
Fz (lbf/V)
Tx,Ty,Tz (lbf-in/V)
Nano17 Titanium US-1.8-0.4 ±1.8 ±3.15 ±0.4 0.18 0.315 0.04Nano17 Titanium US-3.6-0.8 ±3.6 ±6.3 ±0.8 0.36 0.63 0.08Nano17 Titanium US-7.2-1.6 ±7.2 ±12.6 ±1.6 0.72 1.26 0.16
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz (N)
Tx,Ty,Tz (Nmm)
Fx,Fy (N/V)
Fz (N/V)
Tx,Ty,Tz (Nmm/V)
Nano17 Titanium SI-8-0.05 ±8 ±14.1 ±50 0.8 1.41 5Nano17 Titanium SI-16-0.1 ±16 ±28.2 ±100 1.6 2.82 10Nano17 Titanium SI-32-0.2 ±32 ±56.4 ±200 3.2 5.64 20
Analog Output Range Analog±10VSensitivity1
Notes:1. ±5V Sensitivity values are double the listed ±10V Sensitivity values.
5.2.5 CTLCountsValueTable 4.5—CountsValue
Sensor Calibration Fx,Fy,Fz (/lbf)
Tx,Ty,Tz (/lbf-in)
Fx,Fy,Fz (/N)
Tx,Ty,Tz (/Nmm)
Nano17 Titanium US-1.8–0.4/SI-8–0.05 54400 371200 1280 256Nano17 Titanium US-3.6–0.8/SI-16–0.1 27200 185600 640 128Nano17 Titanium US-7.2–1.6/SI-32–0.2 13600 82800 320 64 Nano17 Titanium Tool Transform Factor 0.0022 in/lbf 0.0375 mm/N
CountsValue–Standard(US) CountsValue–Metric(SI)
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5.2.6 Nano17Titanium(USCalibrationComplexLoading)
HelpNano17 Titanium
US-1.8-0.4 US-3.6-0.8 US-7.2-1.6
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5.2.7 Nano17Titanium(SICalibrationComplexLoading)
HelpNano17 Titanium
SI-8-0.05 SI-16-0.1 SI-32-0.2
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5.2.8 Nano17 Titanium Transducer Drawing
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5.3 Nano17Specifications(IncludesIP65/IP68Versions)5.3.1 Nano17 Physical Properties
Table 4.6—Nano17 Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±56 lbf ±250 NFz ±110 lbf ±480 NTxy ±14 inf-lb ±1.6 NmTz ±16 inf-lb ±1.8 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.7x104 lb/in 8.2x106 N/m Z-axisforce(Kz) 6.5x104 lb/in 1.1x107 N/m X-axis&Y-axistorque(Ktx,Kty) 2.1x103 lbf-in/rad 2.4x102 Nm/rad Z-axistorque(Ktz) 3.4x103 lbf-in/rad 3.8x102 Nm/rad Resonant Frequency Fx, Fy, Tz 7200 Hz 7200 HzFz, Tx, Ty 7200 Hz 7200 HzPhysicalSpecifications Weight1 0.02 lb 0.00907 kgDiameter1 0.669 in 17 mmHeight1 0.571 in 14.5 mmNote:
1. Specificationsincludestandardinterfaceplates.
5.3.2 Nano17 IP65/IP68 Physical PropertiesTable 4.7—Nano17 IP65/IP68 Physical Properties
Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±56 lbf ±250 NFz ±110 lbf ±480 NTxy ±14 inf-lb ±1.6 NmTz ±16 inf-lb ±1.8 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.7x104 lb/in 8.2x106 N/m Z-axisforce(Kz) 6.5x104 lb/in 1.1x107 N/m X-axis&Y-axistorque(Ktx,Kty) 2.1x103 lbf-in/rad 2.4x102 Nm/rad Z-axistorque(Ktz) 3.4x103 lbf-in/rad 3.8x102 Nm/rad Resonant Frequency Fx, Fy, Tz 2200 Hz 2200 HzFz, Tx, Ty 2200 Hz 2200 HzPhysicalSpecifications Weight1 0.09 lb 0.0408 kgDiameter1 0.79 in 20.1 mmHeight1 0.873 in 22.2 mmNote:
1. Specificationsincludestandardinterfaceplates.
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CAUTION: When submerged, IP68 transducers exhibit a decrease in Fz range related to the submersion depth. This loss is the result of pressure-induced preloading on the transducer. The preload can be masked by biasing the transducer at the depth prior to applying the load to be measured. The following estimates are for room temperature fresh water at sea level.
Submersion DepthIP68 Nano17 US MetricFz preload at 4 m depth 2.01 lb 8.93 NFz preload at other depths -0.15 lb/ft × depth In Feet -2.23 N/m × depth In Meters
5.3.3 CalibrationSpecifications(excludesCTLcalibrations)Table 4.8—Nano17Calibrations(excludesCTLcalibrations)1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Nano17 US-3-1 3 4.25 1 1 1/1280 1/1280 1/8000 1/8000Nano17 US-6-2 6 8.5 2 2 1/640 1/640 1/4000 1/4000Nano17 US-12-4 12 17 4 4 1/320 1/320 1/2000 1/2000
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nmm)
Tz (Nmm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nmm)
Tz (Nmm)
Nano17 SI-12-0.12 12 17 120 120 1/320 1/320 1/64 1/64Nano17 SI-25-0.25 25 35 250 250 1/160 1/160 1/32 1/32Nano17 SI-50-0.5 50 70 500 500 1/80 1/80 1/16 1/16
Sensing Ranges Resolution(DAQ,NetF/T)4
Notes:1. These system resolutions quoted are the effective resolution after dropping eight counts of noise. The effective
resolutioncanbeimprovedwithfiltering.2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. For IP68 version see caution on physical properties page.4. DAQ resolutions are typical for a 16-bit data acquisition system.
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5.3.4 CTL CalibrationSpecificationsTable 4.9— Nano17 CTL Calibrations1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Nano17 US-3-1 3 4.25 1 1 1/640 1/640 1/4000 1/4000Nano17 US-6-2 6 8.5 2 2 1/320 1/320 1/2000 1/2000Nano17 US-12-4 12 17 4 4 1/160 1/160 1/1000 1/1000
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nmm)
Tz (Nmm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nmm)
Tz (Nmm)
Nano17 SI-12-0.12 12 17 120 120 1/160 1/160 1/32 1/32Nano17 SI-25-0.25 25 35 250 250 1/80 1/80 1/16 1/16Nano17 SI-50-0.5 50 70 500 500 1/40 1/40 1/8 1/8
Sensing Ranges Resolution(Controller)Notes:
1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight counts of noise.Theeffectiveresolutioncanbeimprovedwithfiltering.
2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly. 3. For IP68 version see caution on physical properties page.
5.3.5 CTL Analog OutputTable 4.10— Nano17 Analog Output
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz2 (lbf)
Tx,Ty,Tz (lbf-in)
Fx,Fy (lbf/V)
Fz2 (lbf/V)
Tx,Ty,Tz (lbf-in/V)
Nano17 US-3-1 ±3 ±4.25 ±1 0.3 0.425 0.1Nano17 US-6-2 ±6 ±8.5 ±2 0.6 0.85 0.2Nano17 US-12-4 ±12 ±17 ±4 1.2 1.7 0.4
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz2 (N)
Tx,Ty,Tz (Nmm)
Fx,Fy (N/V)
Fz2 (N/V)
Tx,Ty,Tz (Nmm/V)
Nano17 SI-12-0.12 ±12 ±17 ±120 1.2 1.7 12Nano17 SI-25-0.25 ±25 ±35 ±250 2.5 3.5 25Nano17 SI-50-0.5 ±50 ±70 ±500 5 7 50
Analog Output Range Analog±10VSensitivity1
Notes:1. ±5V Sensitivity values are double the listed ±10V Sensitivity values.2. For IP68 version see caution on physical properties page.
5.3.6 CTLCountsValueTable 4.11—CountsValue
Sensor Calibration Fx,Fy,Fz (/lbf)
Tx,Ty,Tz (/lbf-in)
Fx,Fy,Fz (/N)
Tx,Ty,Tz (/Nmm)
Nano17 US-3–1/SI-12–0.25 5120 32000 1280 256Nano17 US-6–2/SI-25–0.25 2560 16000 640 128Nano17 US-12–4/SI-50–0.5 1280 8000 320 64Nano17 Tool Transform Factor 0.0016 in/lbf 0.05 mm/N
CountsValue–Standard(US) CountsValue–Metric(SI)
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5.3.7 Nano17(USCalibrationComplexLoading)(IncludesIP65/IP68)1
HelpNano17
US-3-1 US-6-2 US-12-4
Note: 1. For IP68 version see caution on physical properties page.
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5.3.8 Nano17(SICalibrationComplexLoading)(IncludesIP65/IP68)1
HelpNano17
SI-12-0.12 SI-25-0.25 SI-50-0.5
Note: 1. For IP68 version see caution on physical properties page.
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5.3.9 Nano17-E Transducer Drawing
1.08
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DO
NO
T EX
CEE
D IN
TER
FAC
E D
EPTH
--MA
Y C
AU
SE D
AM
AG
E
Rev.
Des
crip
tion
Initi
ator
Dat
e
01In
itial
Dra
win
gPP
F3/
8/20
07
02Up
dat
ed d
imen
sions
from
stra
in re
lief t
o ce
nter
of p
art
PPF
5/27
/200
8
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D
DO
NO
T SC
ALE
DRA
WIN
G.
DRA
WN
IN S
OLID
WO
RKS.
ALL
DIM
ENSI
ON
S A
RE IN
MILL
IMET
ERS.
3rd
AN
GLE
PRO
JEC
TION
DRA
WN
BY:
CHE
CKE
D B
Y:
WEI
GHT
LBS
:
ASS
EMBL
Y RE
F:
P. F
usco
3/8
/07
D. S
wan
son
3/9/
07
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
DUC
T RE
LEA
SE #
DA
TE:
SHEE
T
OF
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C.
NO
T TO
BE
REPR
OD
UCED
IN A
NY
MA
NN
ER E
XCEP
T O
NO
RDER
OR
WITH
PRI
OR
WRI
TTEN
AUT
HORI
ZATIO
N O
F A
TI.
NAN
O17
-E T
RAN
SDU
CER
9230
-05-
1311
-02
B3:
11
1
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com39
5.3.10 Nano17 IP65/IP68 Transducer with Axial Cable Exit Drawing
3rd
AN
GLE
PRO
JEC
TION
20.1
8.90
8±0.
025
120°
10.6
16±0
.0257.
879±
0.02
5
10°
1.38
9±0.
025
B.C
. 16
35°
9.1
Min
-Y
+X
3X T
ap M
2x0.
4 4
.5E
qual
ly S
pace
dC
usto
mer
Inte
rface
(See
Not
e 4)
2X
2 S
lip F
it 3.
8C
usto
mer
Inte
rface
(See
Not
e 5)
MO
UN
TIN
G S
IDE
22.2
19.3
10.4
Max
17
Stra
in R
elie
f Fi
tting
for C
able
Mou
ntin
g A
dapt
er P
late
Tool
Ada
pter
Pla
te
SID
E V
IEW
9.37
3±0.
025
6.24
8±0.
025
5.41
1±0.
025
B.C
. 12
.5
120°
TOO
L S
IDE
3X T
ap M
2x0.
4 2
.1E
qual
ly S
pace
dC
usto
mer
Inte
rface
2X
2mm
Slip
Fit
3C
usto
mer
Inte
rface
ISO
ME
TRIC
VIE
W
+Y
-X
+X
+Y
-X
-Y-Z
+Z
Sen
sing
Ref
eren
ceFr
ame
Orig
in
NO
TES
:M
ater
ial:
Sta
inle
ss S
teel
1.To
ol a
nd M
ount
ing
Ada
pter
s ha
ve M
2 ta
pped
hol
es a
nd 2
mm
dow
el p
in
2.ho
les
for i
nter
faci
ngW
AR
NIN
G: D
O N
OT
LOO
SEN
OR
REM
OVE
INTE
RFA
CE
PLA
TES
DU
E 3.
TO P
OTE
NTI
AL
DA
MA
GE
No
thre
ads
pres
ent f
irst 1
mm
of i
nter
face
4.N
o do
wel
inte
rface
firs
t 1m
m o
f int
erfa
ce5.
Sta
ndar
d co
nnec
tor (
not s
how
n) h
as 1
7mm
dia
met
er &
is 6
7.5m
m lo
ng.
6.C
able
is IP
65/IP
68 ra
ted
only
at t
rans
duce
r end
.7.
Alig
nmen
t mar
ks a
re fo
r ATI
refe
renc
e on
ly.
8.
Rev.
Des
crip
tion
Initi
ator
Dat
e
04EC
O 1
3994
; Ad
ded
Not
e 8
SZJ
5/23
/201
6
B3:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
C. S
turg
is 1
/11/
10
R. C
ham
bers
1/1
2/10
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-13
6404
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP65
/68
Nan
o17
Tran
sduc
er w
/ Axi
al C
able
Exi
t
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com40
5.3.11 Legacy Nano17 Transducer Drawing
Cus
tom
er In
terfa
ce
(2)
2 Sl
ip F
it 3.
0(B
.C.
12.5
)
6.24
8±0.
025
120°
9.37
3±0.
025
5.41
1±0.
025
(3)T
ap M
2x.4
0 3.
5B.
C.
12.5
Equa
lly S
pace
dC
usto
mer
Inte
rface
(See
Not
e 3)
-X
-Y
+X
+Y
Nan
o17-
R C
able
Exit
(Sta
ndar
d)
Sens
ing
Refe
renc
eFr
ame
Orig
in
14.5
0
17+Z
-Z
Mou
ntin
g A
dapt
erPl
ate
Tool
Ada
pter
Pla
te
Nan
o17-
R C
able
Exit
(Sta
ndar
d)
SID
E V
IEW
TOO
L SI
DE
Sens
ing
Refe
renc
e Fr
ame
Orig
in
(See
Not
e 3)
(2)
2 Sl
ip F
it 3
.0(B
.C.
12.5
)C
usto
mer
Inte
rface
8.29
1±0.
025
6.95
7±0.
025
6.15
3±0.
025
1.08
5±0.
025
3.8
5°
30°
120°
10°
Nan
o17-
A C
able
Exit
(Alte
rnat
e)
+Y
(3)T
ap M
2x.4
0 3.
5B.
C.
12.5
Equa
lly S
pace
dC
usto
mer
Inte
rface
(See
Not
e 3)
MO
UNTIN
G S
IDE
+X
-Y
-X
Nan
o17-
R C
able
Exit
(Sta
ndar
d)
NA
NO
17-R
ISO
MET
RIC
VIE
WA
LTER
NA
TE C
ABL
E EX
ITN
AN
O17
-AA
LTER
NA
TE C
ABL
E EX
ITN
AN
O17
-E
Not
es:
1. M
ount
ing
and
Tool
Ada
pter
mad
e of
Alu
min
um.
T
rans
duce
r mad
e of
har
dene
d St
ainl
ess S
teel
.2.
WA
RNIN
G: D
O N
OT L
OO
SEN
OR
REM
OVE
INTE
RFA
CE
PLA
TES
O
R C
ABL
E FI
TTIN
G D
UE TO
PO
TEN
TIAL D
AM
AG
E.3.
DO
NO
T EXC
EED
INTE
RFA
CE
DEPT
H, M
AY
CA
USE
DAM
AG
E.4.
Con
nect
or (n
ot sh
own)
has
17m
m d
iam
eter
and
is 6
7.5m
m lo
ng.
Rev.
Des
crip
tion
Initi
ator
Dat
e
13Ec
o 76
35; A
dd
-E c
able
exit
CC
S3/
15/2
010
B3:
11
1
REVI
SIO
N
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D
DO
NO
T SC
ALE
DRA
WIN
G.
DRA
WN
IN S
OLID
WO
RKS.
ALL
DIM
ENSI
ON
S A
RE IN
MILL
IMET
ERS.
3rd
AN
GLE
PRO
JEC
TION
DRA
WN
BY:
CHE
CKE
D B
Y:
WEI
GHT
LBS
:
ASS
EMBL
Y RE
F:
B. D
iges
o
D. P
erry
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
DUC
T RE
LEA
SE #
SHEE
T
OF
9230
-05-
1073
B3:
11
1-
REVI
SIO
N
13
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Nan
o17
Tran
sduc
er DA
TE:
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com41
5.4 Nano25Specifications(IncludesIP65/IP68Versions)5.4.1 Nano25 Physical Properties
Table 4.12—Nano25 Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±520 lbf ±2300 NFz ±1600 lbf ±7300 NTxy ±380 inf-lb ±43 NmTz ±560 inf-lb ±63 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 3.0x105 lb/in 5.3x107 N/m Z-axisforce(Kz) 6.3x105 lb/in 1.1x108 N/m X-axis&Y-axistorque(Ktx,Kty) 5.7x104 lbf-in/rad 6.5x103 Nm/rad Z-axistorque(Ktz) 8.1x104 lbf-in/rad 9.2x103 Nm/rad Resonant Frequency Fx, Fy, Tz 3600 Hz 3600 HzFz, Tx, Ty 3800 Hz 3800 HzPhysicalSpecifications Weight1 0.14 lb 0.0634 kgDiameter1 0.984 in 25 mmHeight1 0.85 in 21.6 mmNote:
1. Specificationsincludestandardinterfaceplates.
5.4.2 Nano25 IP65/IP68 Physical PropertiesTable 4.13—Nano25 IP65/IP68 Physical Properties
Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±520 lbf ±2300 NFz ±1600 lbf ±7300 NTxy ±380 inf-lb ±43 NmTz ±560 inf-lb ±63 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 3.0x105 lb/in 5.3x107 N/m Z-axisforce(Kz) 6.3x105 lb/in 1.1x108 N/m X-axis&Y-axistorque(Ktx,Kty) 5.7x104 lbf-in/rad 6.5x103 Nm/rad Z-axistorque(Ktz) 8.1x104 lbf-in/rad 9.2x103 Nm/rad Resonant Frequency Fx, Fy, Tz 3400 Hz 3400 HzFz, Tx, Ty 3500 Hz 3500 HzPhysicalSpecifications Weight1 0.3 lb 0.136 kgDiameter1 1.1 in 28 mmHeight1 1.08 in 27.5 mmNote:
1. Specificationsincludestandardinterfaceplates.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com42
CAUTION: When submerged, IP68 transducers exhibit a decrease in Fz range related to the submersion depth. This loss is the result of pressure-induced preloading on the transducer. The preload can be masked by biasing the transducer at the depth prior to applying the load to be measured. The following estimates are for room temperature fresh water at sea level.
Submersion DepthIP68 Nano17 US MetricFz preload at 4 m depth 4.33 lb 19.3 NFz preload at other depths -0.33 lb/ft × depthInFeet -4.81 N/m × depthInMeters
NOTICE: The outer body of the IP65 and the IP68 versions of the Nano25 are electricallyfloatingfromtherestofthesystem.Ifthetransducersignalhasadditionalnoise, it may be necessary to electrically connect the transducer body to the case of the F/T system.
5.4.3 CalibrationSpecifications(excludesCTLcalibrations)Table 4.14—Nano25Calibrations(excludesCTLcalibrations)1, 2, 4
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Nano25 US-25-25 25 100 25 25 1/224 3/224 1/160 1/320Nano25 US-50-50 50 200 50 30 1/112 3/112 1/80 1/160
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Nano25 SI-125-3 125 500 3 3 1/48 1/16 1/1320 1/2640Nano25 SI-250-6 250 1000 6 3.4 1/24 1/8 1/660 1/1320
Sensing Ranges Resolution(DAQ,NetF/T)5
Notes:1. These system resolutions quoted are the effective resolution after dropping four counts of noise. The effective
resolutioncanbeimprovedwithfiltering.2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. For IP68 version see caution on physical properties page.4. Applyingmomentsbeyond±30lbf-in(±3.4Nm)inTzcancausehysteresisandpermanentzero-pointchangeinthe
Nano25(appliestoallversionsoftheNano25).5. DAQ resolutions are typical for a 16-bit data acquisition system.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com43
5.4.4 CTL CalibrationSpecificationsTable 4.15— Nano25 CTL Calibrations1, 2, 4
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Nano25 US-25-25 25 100 25 25 1/112 3/112 1/80 1/160Nano25 US-50-50 50 200 50 30 1/56 3/56 1/40 1/80
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Nano25 SI-125-3 125 500 3 3 1/24 1/8 1/660 1/1320Nano25 SI-250-6 250 1000 6 3.4 1/12 1/4 1/330 1/660
Sensing Ranges Resolution(Controller)Notes:
1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight counts of noise.Theeffectiveresolutioncanbeimprovedwithfiltering.
2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. For IP68 version see caution on physical properties page.4. Applyingmomentsbeyond±30lbf-in(±3.4Nm)inTzcancausehysteresisandpermanentzero-pointchangeinthe
Nano25(appliestoallversionsoftheNano25).
5.4.5 CTL Analog OutputTable 4.16— Nano25 Analog Output
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz2 (lbf)
Tx,Ty,Tz (lbf-in)
Fx,Fy (lbf/V)
Fz2 (lbf/V)
Tx,Ty,Tz (lbf-in/V)
Nano25 US-25-25 ±25 ±100 ±25 2.5 10 2.5Nano25 US-50-50 ±50 ±200 ±50 5 20 5
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz2 (N)
Tx,Ty,Tz (Nmm)
Fx,Fy (N/V)
Fz2 (N/V)
Tx,Ty,Tz (Nm/V)
Nano25 SI-125-3 ±125 ±500 ±3 12.5 50 0.3Nano25 SI-250-6 ±250 ±1000 ±6 25 100 0.6
Analog Output Range Analog±10VSensitivity1
Notes:1. ±5V Sensitivity values are double the listed ±10V Sensitivity values.2. For IP68 version see caution on physical properties page.
5.4.6 CTLCountsValue
Table 4.17—CountsValue
Sensor Calibration Fx,Fy,Fz (/lbf)
Tx,Ty,Tz (/lbf-in) Fx,Fy,Fz Tx,Ty,Tz
Nano25 US-25–25/SI-125–3 896 1280 192 / N 10560 / NNano25 US-50–50/SI-250–6 448 640 96 / Nm 5280 / NmNano25 Tool Transform Factor 0.007 in/lbf 0.18182 mm/N
CountsValue–Standard(US) CountsValue–Metric(SI)
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com44
5.4.7 Nano25(USCalibrationComplexLoading)(IncludesIP65/IP68)1
HelpNano25
US-25-25 US-50-50
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com45
5.4.8 Nano25(SICalibrationComplexLoading)(IncludesIP65/IP68)1
HelpNano25
SI-125-3 SI-250-6
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com46
5.4.9 Nano25-E Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
29.6
5.3
6.06
06.
035
2.1
Cus
tom
er In
terfa
ce
4.29
4±0.
025
9.20
8±0.
025
B.C
. 20
.32
3X M
3-0.
5 7.
0Eq
ually
Spa
ced
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
-Y
-X+X
3 S
lip F
it 7
.0C
usto
mer
Inte
rface
25
21.6
4.8
Sens
ing
Ref
eren
ceFr
ame
Orig
in
Tool
Ada
pter
Mou
ntin
g Ad
apte
r
-Z+Z
10.1
60±0
.025
15.2
40±0
.025
8.79
9±0.
025
B.C
. 20
.32
2X
3 Sl
ip F
it 3.
3C
usto
mer
Inte
rface
3X M
3-0.
5 3.
5Eq
ually
Spa
ced
Cus
tom
er In
terfa
ce(S
ee N
ote
5)
Sens
ing
Ref
eren
ceFr
ame
Orig
in
-X
-Y+Y
+X
ISO
MET
RIC
VIE
W
MO
UN
TIN
G S
IDE
SID
E VI
EWTO
OL
SID
E
Not
es: Mou
ntin
g an
d To
ol A
dapt
er m
ade
of S
tain
less
Ste
el.
Tran
sduc
er
1.m
ade
of h
arde
ned
Stai
nles
s St
eel.
WA
RN
ING
: DO
NO
T LO
OSE
N O
R R
EMO
VE IN
TER
FAC
E PL
ATE
S O
R C
AB
LE2.
DU
E TO
PO
TEN
TIA
L D
AM
AG
E.D
O N
OT
EXC
EED
INTE
RFA
CE
DEP
TH. M
AY
CA
USE
DA
MA
GE.
3.St
anda
rd c
onne
ctor
(not
sho
wn)
has
a 1
7mm
dia
met
er a
nd is
67.
5mm
long
.4.
+Y
Rev.
Des
crip
tion
Initi
ator
Dat
e
02Ec
o 10
898;
cor
rect
TAP
dow
el to
3, u
pdat
e no
tes
LJH
4/11
/201
3
B2:
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Tel: +
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.ati-ia
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ISO
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Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com47
5.4.10 Nano25 IP65/IP68 Transducer with Axial Cable Exit Drawing
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Tel: +
1.919
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115
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fo@ati
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.ati-ia
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ISO
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Reg
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Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com48
5.4.11 Nano25 IP65/IP68 Transducer with Radial Cable Exit Drawing
28
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title
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C11
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2008
1031
Goo
dwor
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pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
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NO
TES:
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LESS
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9230
-05-
1337
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21
108
0701
-1
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com49
5.4.12 Legacy Nano25 Transducer Drawing
10.1
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AUT
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ZATIO
N O
F A
TI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Nan
o25
Tran
sduc
er DA
TE:
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com50
5.5 Nano43Specifications5.5.1 Nano43 Physical Properties
Table 4.18—Nano43 Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±68 lbf ±300 NFz ±86 lbf ±380 NTxy ±29 inf-lb ±3.2 NmTz ±41 inf-lb ±4.6 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 2.9x104 lb/in 5.2x106 N/m Z-axisforce(Kz) 2.9x104 lb/in 5.2x106 N/m X-axis&Y-axistorque(Ktx,Kty) 6.8x103 lbf-in/rad 7.7x102 Nm/rad Z-axistorque(Ktz) 1.0x104 lbf-in/rad 1.1x103 Nm/rad Resonant Frequency Fx, Fy, Tz 2800 Hz 2800 HzFz, Tx, Ty 2300 Hz 2300 HzPhysicalSpecifications Weight1 0.0854 lb 0.0387 kgDiameter1 1.69 in 43 mmHeight1 0.454 in 11.5 mmNote:
1. Specificationsincludestandardinterfaceplates.
NOTICE:TheouterbodyoftheNano43iselectricallyfloatingfromtherestofthesystem. If the transducer signal has additional noise, it may be necessary to electrically connect the transducer body to the case of the F/T system.
5.5.2 CalibrationSpecifications(excludesCTLcalibrations)Table 4.19—Nano43Calibrations(excludesCTLcalibrations)1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Nano43 US-2-1 2 2 1 1 1/2320 1/2320 1/4640 1/4640Nano43 US-4-2 4 4 2 2 1/1160 1/1160 1/2320 1/2320Nano43 US-8-4 8 8 4 4 1/580 1/580 1/1160 1/1160
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz (N)
Tx,Ty (Nmm)
Tz (Nmm)
Fx,Fy (N)
Fz (N)
Tx,Ty (Nmm)
Tz (Nmm)
Nano43 SI-9-0.125 9 9 125 125 1/512 1/512 1/40 1/40Nano43 SI-18-0.25 18 18 250 250 1/256 1/256 1/20 1/20Nano43 SI-36-0.5 36 36 500 500 1/128 1/128 1/10 1/10
Sensing Ranges Resolution(DAQ,NetF/T)3
Notes:1. These system resolutions quoted are the effective resolution after dropping eight counts of noise. The effective
resolutioncanbeimprovedwithfiltering.2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. DAQ resolutions are typical for a 16-bit data acquisition system.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com51
5.5.3 CTL CalibrationSpecificationsTable 4.20— Nano43 CTL Calibrations1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Nano43 US-2-1 2 2 1 1 1/1160 1/1160 1/2320 1/2320Nano43 US-4-2 4 4 2 2 1/580 1/580 1/1160 1/1160Nano43 US-8-4 8 8 4 4 1/290 1/290 1/580 1/580
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz (N)
Tx,Ty (Nmm)
Tz (Nmm)
Fx,Fy (N)
Fz (N)
Tx,Ty (Nmm)
Tz (Nmm)
Nano43 SI-9-0.125 9 9 125 125 1/256 1/256 1/20 1/20Nano43 SI-18-0.25 18 18 250 250 1/128 1/128 1/10 1/10Nano43 SI-36-0.5 36 36 500 500 1/64 1/64 1/5 1/5
Sensing Ranges Resolution(Controller)Notes:
1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight counts of noise.Theeffectiveresolutioncanbeimprovedwithfiltering.
2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.
5.5.4 CTL Analog OutputTable 4.21— Nano43 Analog Output
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty,Tz (lbf-in)
Fx,Fy (lbf/V)
Fz (lbf/V)
Tx,Ty,Tz (lbf-in/V)
Nano43 US-2-1 N/A N/A N/A N/A N/A N/ANano43 US-4-2 ±4 ±4 ±2 0.4 0.4 0.2Nano43 US-8-4 ±8 ±8 ±4 0.8 0.8 0.4
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz (N)
Tx,Ty,Tz (Nmm)
Fx,Fy (N/V)
Fz (N/V)
Tx,Ty,Tz (Nm/V)
Nano43 SI-9-0.125 N/A N/A N/A N/A N/A N/ANano43 SI-18-0.25 ±18 ±18 ±250 1.8 1.8 25Nano43 SI-36-0.5 ±36 ±36 ±500 3.6 3.6 50
Analog Output Range Analog±10VSensitivity1
Notes:1. ±5V Sensitivity values are double the listed ±10V Sensitivity values.
5.5.5 CTLCountsValueTable 4.22—CountsValue
Sensor Calibration Fx,Fy,Fz (/lbf)
Tx,Ty,Tz (/lbf-in)
Fx,Fy,Fz (/N)
Tx,Ty,Tz (/Nmm)
Nano43 US-2-1/SI-9-0.125 N/A N/A N/A N/ANano43 US-4–2/SI-18–0.25 4640 9280 1024 80Nano43 US-8–4/SI-36–0.5 2320 4640 512 40Nano43 Tool Transform Factor 0.005 in/lbf 0.128 mm/N
CountsValue–Standard(US) CountsValue–Metric(SI)
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com52
5.5.6 Nano43(USCalibrationComplexLoading)
HelpNano43
US-2-1 US-4-2 US-8-4
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com53
5.5.7 Nano43(SICalibrationComplexLoading)
HelpNano43
SI-9-0.125 SI-18-0.25 SI-36-0.5
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com54
5.5.8 Nano43 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
6.8
47±0
.025
1
1.89
3±0.
025
9.7
79±0
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20.
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0.02
5
20 T
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ee N
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43
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IEW
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47±0
.025
17.
013±
0.02
5
25.
305±
0.02
5
19.
417±
0.02
5
2X
2 S
lip F
it 3.
8C
usto
mer
Inte
rface
B.C
. 36
.8
MO
UNTIN
G S
IDE
+Y
-X+X
-Y
Nan
o43-
R C
able
Exi
t(N
o Al
tern
ativ
e Av
aila
ble)
ISO
MET
RIC
VIE
WN
OTE
S: Mou
ntin
g an
d To
ol A
dapt
er m
ade
of a
lum
inum
, Tra
nsdu
cer m
ade
of
1.ha
rden
ed s
tain
less
ste
el.
WA
RN
ING
: DO
NO
T LO
OSE
N O
R R
EMO
VE IN
TER
FAC
E PL
ATE
S O
R
2.C
AB
LE F
ITTI
NG
DU
E TO
PO
TEN
TIA
L D
AM
AG
E.D
O N
OT
EXC
EED
INTE
RFA
CE
DEP
TH. M
AY
CA
USE
DA
MA
GE
3.St
anda
rd c
onne
ctor
(not
sho
wn)
has
17m
m d
iam
eter
& is
67.
5mm
long
.4.
Do
not a
llow
item
s pa
ssin
g th
roug
h ce
nter
hol
e to
touc
h bo
th th
e M
ount
ing
5.an
d To
ol A
dapt
er P
late
s or
acc
urac
y w
ill be
com
prom
ised
.
Rev.
Des
crip
tion
Initi
ator
Dat
e
06EC
O12
438:
Upd
ate
trans
duc
er c
onst
ruct
ion
ELB
31JU
L201
4
B1:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
B.W
oodl
eif 1
/12/
01
LJH
7/1
5/04
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-11
10---
-----
06
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Nan
o43
Tran
sduc
er
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com55
5.6 Mini27 TitaniumSpecifications5.6.1 Mini27 Titanium Physical Properties
Table 4.23—Mini27 Titanium Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±330 lbf ±1500 NFz ±1000 lbf ±4600 NTxy ±270 inf-lb ±30 NmTz ±360 inf-lb ±40 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 1.8x105 lb/in 3.1x107 N/m Z-axisforce(Kz) 3.6x105 lb/in 6.4x107 N/m X-axis&Y-axistorque(Ktx,Kty) 4.0x104 lbf-in/rad 4.5x103 Nm/rad Z-axistorque(Ktz) 5.8x104 lbf-in/rad 6.5x103 Nm/rad Resonant Frequency Fx, Fy, Tz N/A N/AFz, Tx, Ty N/A N/APhysicalSpecifications Weight1 0.0736 lb 0.0334 kgDiameter1 1.06 in 27 mmHeight1 0.715 in 18.2 mmNote:
1. Specificationsincludestandardinterfaceplates.
5.6.2 CalibrationSpecifications(excludesCTLcalibrations)Table 4.24—Mini27TitaniumCalibrations(excludesCTLcalibrations)1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Mini27 Titanium US-10-18 10 20 18 10 1/400 3/400 1/400 1/800Mini27 Titanium US-20-36 20 40 36 20 1/200 3/200 1/200 1/400
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz (N)
Tx,Ty (Nm)
Tz (Nm)
Mini27 Titanium SI-40-2 40 80 2 1 3/200 3/100 3/8000 1/4000Mini27 Titanium SI-80-4 80 160 4 2 3/100 3/50 3/4000 1/2000
Sensing Ranges Resolution(DAQ,NetF/T)3
Notes:1. These system resolutions quoted are the effective resolution after dropping four counts of noise. The effective
resolutioncanbeimprovedwithfiltering.2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. DAQ resolutions are typical for a 16-bit data acquisition system.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com56
5.6.3 CTL CalibrationSpecificationsTable 4.25— Mini27 Titanium CTL Calibrations1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Mini27 Titanium US-10-18 10 20 18 10 1/200 3/200 1/200 1/400Mini27 Titanium US-20-36 20 40 36 20 1/100 3/100 1/100 1/200
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz (N)
Tx,Ty (Nm)
Tz (Nm)
Mini27 Titanium SI-40-2 40 80 2 1 3/100 3/50 3/4000 1/2000Mini27 Titanium SI-80-4 80 160 4 2 3/50 3/25 3/2000 1/1000
Sensing Ranges Resolution(Controller)Notes:
1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight counts of noise.Theeffectiveresolutioncanbeimprovedwithfiltering.
2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.
5.6.4 CTL Analog OutputTable 4.26— Mini27 Titanium Analog Output
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty,Tz (lbf-in)
Fx,Fy (lbf/V)
Fz (lbf/V)
Tx,Ty,Tz (lbf-in/V)
Mini27 Titanium US-10-18 ±10 ±20 ±18 1 2 1.8Mini27 Titanium US-20-36 ±20 ±40 ±36 2 4 3.6
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz (N)
Tx,Ty,Tz (Nmm)
Fx,Fy (N/V)
Fz (N/V)
Tx,Ty,Tz (Nm/V)
Mini27 Titanium SI-40-2 ±40 ±80 ±2 4 8 0.2Mini27 Titanium SI-80-4 ±80 ±160 ±4 8 16 0.4
Analog Output Range Analog±10VSensitivity1
Notes:1. ±5V Sensitivity values are double the listed ±10V Sensitivity values.
5.6.5 CTLCountsValueTable 4.27—CountsValue
Sensor Calibration Fx,Fy,Fz (/lbf)
Tx,Ty,Tz (/lbf-in)
Fx,Fy,Fz (/N)
Tx,Ty,Tz (/Nm)
Mini27 Titanium US-1–18/SI-40–2 3200 3200 800 32000Mini27 Titanium US-20–36/SI-80–4 1600 1600 400 16000Mini27 Titanium Tool Transform Factor 0.01 in/lbf 0.25 mm/N
CountsValue–Standard(US) CountsValue–Metric(SI)
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com57
5.6.6 Mini27Titanium(USCalibrationComplexLoading)
HelpMini27 Titanium
US-10-18 US-20-36
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com58
5.6.7 Mini27Titanium(SICalibrationComplexLoading)
HelpMini27 Titanium
SI-40-2 SI-80-4
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com59
5.6.8 Mini27 Titanium Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
9.5
69±0
.025
16.
574±
0.02
5
18°
36°
Typ
.
6X T
ap M
3X0.
5 5
.0P
airs
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
B.C
.22
.1
11.
049±
0.02
5
2X
2 S
lip F
it 3
.8C
usto
mer
Inte
rface
+Y-Y
-X+X
MO
UN
TIN
G S
IDE
18.
2
6.4
6
.4
27
2.1
5.2
3.3
-Z+Z
Tool
Ada
pter
Pla
te
Mou
ntin
gA
dapt
erP
late
Sen
sing
Ref
eren
ceFr
ame
Orig
in
SID
E V
IEW
18°
36°
Typ
.
5.5
25±0
.025
19.
137±
0.02
5
9.5
69±0
.025
6X T
ap M
3X0.
5 5
.0P
airs
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce(S
ee N
ote
3)2X
2
Slip
Fit
3.8
Cus
tom
er In
terfa
ce
B.C
.22
.1
30°
15
+Y-Y
-X+X
Sen
sing
Ref
eren
ceFr
ame
Orig
in
TOO
L S
IDE
MIN
I27T
I-A IS
OM
ETR
IC V
IEW
MIN
I27T
I-R IS
OM
ETR
IC V
IEW
Not
es: Mat
eria
l: Tr
ansd
ucer
, Mou
ntin
g an
d To
ol A
dapt
er m
ade
of T
itani
um T
i-6A
I-4V
1.
Gra
de 5
.W
AR
NIN
G: D
O N
OT
LOO
SEN
OR
REM
OVE
INTE
RFA
CE
PLA
TES
OR
CA
BLE
2.
FITT
ING
DU
E TO
PO
TEN
TIA
L D
AM
AG
ED
O N
OT
EXC
EED
INTE
RFA
CE
DEP
TH, M
AY
CA
USE
DA
MA
GE.
3.S
tand
ard
conn
ecto
r (no
t sho
wn)
has
17m
m d
iam
eter
and
is 6
7.5m
m lo
ng.
4.
Min
i27T
i-R C
able
Exi
t (A
ltern
ate)
Rev.
Des
crip
tion
Initi
ator
Dat
e
04EC
O 1
1406
: Cor
rect
ed Is
omet
ric v
iew
title
Min
i27T
I-RLJ
H9/
17/1
3
B3:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
J. W
alse
r 02/
27/2
012
R. C
ham
bers
02/
28/1
2
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-14
2010
0429
-104
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Tita
nium
Min
i27
Tran
sduc
er
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com60
5.6.9 Mini27-E Titanium Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
36°
Typ
.
18°
B.C
. 22
.1
16.
574±
0.02
5
11.
049±
0.02
5 9.5
69±0
.025
2X
2 Sl
ip F
it3.
8C
usto
mer
Inte
rface
6X M
3X0.
5 5
.0Pa
irs E
qual
ly S
pace
dC
usto
mer
Inte
rface
17.
2
30°
18.
6
+X -X
-Y+Y
MO
UN
TIN
G S
IDE
27
19.
4
3.6
9.5
7.6
-Z
Sens
ing
Ref
eren
ceFr
ame
Orig
in
Mou
ntin
gAd
apte
rPl
ate
Tool
Adap
ter
Plat
e
36°
Typ
.
18°
6X M
3X0.
5 5
.0Pa
irs E
qual
ly S
pace
dC
usto
mer
Inte
rface
2X
2 Sl
ip F
it3.
8C
usto
mer
Inte
rface
19.
137±
0.02
5
B.C
. 22
.1
9.5
69±0
.025
5.5
25±0
.025
2X
R4.
7
+X -X
-Y+Y
Sens
ing
Ref
eren
ceFr
ame
Orig
in
(See
Not
e 3.
)
ISO
MET
RIC
VIE
W
+Z
SID
E VI
EWTO
OL
SID
E
Not
es: Mat
eria
l: Ti
tani
um T
i-6AI
-4V
Gra
de 5
.1.
WA
RN
ING
: DO
NO
T LO
OSE
N O
R R
EMO
VE IN
TER
FAC
E PL
ATE
S O
R C
AB
LE
2.FI
TTIN
G D
UE
TO P
OTE
NTI
AL
DA
MA
GE
DO
NO
T EX
CEE
D IN
TER
FAC
E D
EPTH
. MA
Y C
AU
SE D
AM
AG
E.3.
Stan
dard
con
nect
or (n
ot s
how
n) h
as 1
7mm
dia
met
er a
nd is
67.
5mm
long
.4.
(See
Not
e 3.
)
REV
.D
ESC
RIPT
ION
INITI
ATO
RD
ATE
02A
dd
ed 7
.6 d
imen
sion
RTD
1/17
/201
9
03A
dd
ed 1
7.2
dim
ensio
nRT
D1/
18/2
019
B2:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
R.D
upre
e 01
/15/
19
P.Fu
sco
01/
16/1
9
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-15
5318
1213
-103
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Min
i27-
E Tr
ansd
ucer
with
Stra
in R
elie
ved
Cab
le
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com61
5.7 Mini40Specifications(IncludesIP65/IP68Versions)5.7.1 Mini40 Physical Properties
Table 4.28—Mini40 Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±180 lbf ±810 NFz ±530 lbf ±2400 NTxy ±170 inf-lb ±19 NmTz ±180 inf-lb ±20 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 6.1x104 lb/in 1.1x107 N/m Z-axisforce(Kz) 1.2x105 lb/in 2.0x107 N/m X-axis&Y-axistorque(Ktx,Kty) 2.5x104 lbf-in/rad 2.8x103 Nm/rad Z-axistorque(Ktz) 3.6x104 lbf-in/rad 4.0x103 Nm/rad Resonant Frequency Fx, Fy, Tz 3200 Hz 3200 HzFz, Tx, Ty 4900 Hz 4900 HzPhysicalSpecifications Weight1 0.11 lb 0.0499 kgDiameter1 1.57 in 40 mmHeight1 0.482 in 12.2 mmNote:
1. Specificationsincludestandardinterfaceplates.
5.7.2 Mini40 IP65/IP68 Physical PropertiesTable 4.29—Mini40 IP65/IP68 Physical Properties
Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±180 lbf ±810 NFz ±530 lbf ±2400 NTxy ±170 inf-lb ±19 NmTz ±180 inf-lb ±20 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 6.1x104 lb/in 1.1x107 N/m Z-axisforce(Kz) 1.2x105 lb/in 2.0x107 N/m X-axis&Y-axistorque(Ktx,Kty) 2.5x104 lbf-in/rad 2.8x103 Nm/rad Z-axistorque(Ktz) 3.6x104 lbf-in/rad 4.0x103 Nm/rad Resonant Frequency Fx, Fy, Tz 1400 Hz 1400 HzFz, Tx, Ty 1300 Hz 1300 HzPhysicalSpecifications Weight1 0.6 lb 0.272 kgDiameter1 2.1 in 53.3 mmHeight1 0.83 in 21.1 mmNote:
1. Specificationsincludestandardinterfaceplates.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com62
CAUTION: When submerged, IP68 transducers exhibit a decrease in Fz range related to the submersion depth. This loss is the result of pressure-induced preloading on the transducer. The preload can be masked by biasing the transducer at the depth prior to applying the load to be measured. The following estimates are for room temperature fresh water at sea level.
Submersion DepthIP68 Mini40 US MetricFz preload at 4 m depth 17.0 lb 75.5 NFz preload at other depths -1.29 lb/ft × depthInFeet -18.9 N/m × depthInMeters
5.7.3 CalibrationSpecifications(excludesCTLcalibrations)Table 4.30—Mini40Calibrations(excludesCTLcalibrations)1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Mini40 US-5-10 5 15 10 10 1/800 1/400 1/800 1/800Mini40 US-10-20 10 30 20 20 1/400 1/200 1/400 1/400Mini40 US-20-40 20 60 40 40 1/200 1/100 1/200 1/200
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Mini40 SI-20-1 20 60 1 1 1/200 1/100 1/8000 1/8000Mini40 SI-40-2 40 120 2 2 1/100 1/50 1/4000 1/4000Mini40 SI-80-4 80 240 4 4 1/50 1/25 1/2000 1/2000
Sensing Ranges Resolution(DAQ,NetF/T)4
Notes:1. These system resolutions quoted are the effective resolution after dropping four counts of noise. The effective
resolutioncanbeimprovedwithfiltering.2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. For IP68 version see caution on physical properties page.4. DAQ resolutions are typical for a 16-bit data acquisition system.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com63
5.7.4 CTL CalibrationSpecificationsTable 4.31— Mini40 CTL Calibrations1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Mini40 US-5-10 5 15 10 10 1/400 1/200 1/400 1/400Mini40 US-10-20 10 30 20 20 1/200 1/100 1/200 1/200Mini40 US-20-40 20 60 40 40 1/100 1/50 1/100 1/100
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Mini40 SI-20-1 20 60 1 1 1/100 1/50 1/4000 1/4000Mini40 SI-40-2 40 120 2 2 1/50 1/25 1/2000 1/2000Mini40 SI-80-4 80 240 4 4 1/25 2/25 1/1000 1/1000
Sensing Ranges Resolution(Controller)Notes:
1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight counts of noise.Theeffectiveresolutioncanbeimprovedwithfiltering.
2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly. 3. For IP68 version see caution on physical properties page.
5.7.5 CTL Analog OutputTable 4.32— Mini40 Analog Output
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz2 (lbf)
Tx,Ty,Tz (lbf-in)
Fx,Fy (lbf/V)
Fz2 (lbf/V)
Tx,Ty,Tz (lbf-in/V)
Mini40 US-5-10 ±5 ±15 ±10 0.5 1.5 1Mini40 US-10-20 ±10 ±30 ±20 1 3 2Mini40 US-20-40 ±20 ±60 ±40 2 6 4
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz2 (N)
Tx,Ty,Tz (Nm)
Fx,Fy (N/V)
Fz2 (N/V)
Tx,Ty,Tz (Nm/V)
Mini40 SI-20-1 ±20 ±60 ±1 2 6 0.1Mini40 SI-40-2 ±40 ±120 ±2 4 12 0.2Mini40 SI-80-4 ±80 ±240 ±4 8 24 0.4
Analog Output Range Analog±10VSensitivity1
Notes:1. ±5V Sensitivity values are double the listed ±10V Sensitivity values.2. For IP68 version see caution on physical properties page.
5.7.6 CTLCountsValueTable 4.33—CountsValue
Sensor Calibration Fx,Fy,Fz (/lbf)
Tx,Ty,Tz (/lbf-in)
Fx,Fy,Fz (/N)
Tx,Ty,Tz (/Nm)
Mini40 US-5–10/SI-20–1 3200 3200 800 32000Mini40 US-10–20/SI-40–2 1600 1600 400 16000Mini40 US-20–40/SI-80-4 800 800 200 8000Mini40 Tool Transform Factor 0.01 in/lbf 0.25 mm/N
CountsValue–Standard(US) CountsValue–Metric(SI)
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com64
5.7.7 Mini40(USCalibrationComplexLoading)(IncludesIP65/IP68)1
HelpMini40
US-5-10 US-10-20 US-20-40
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com65
5.7.8 Mini40(SICalibrationComplexLoading)(IncludesIP65/IP68)1
HelpMini40
SI-20-1 SI-40-2 SI-80-4
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com66
5.7.9 Mini40-E Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
14
40
.1
Mou
ntin
g A
dapt
erP
late
Tool
Ada
pter
Pla
te
Sen
sing
Ref
eren
ceFr
ame
Orig
in
SID
E V
IEW
17.
500±
0.02
5
26.
250±
0.02
5
15.
155±
0.02
5
120
°
B.C
.33
Sen
sing
Ref
eren
ceFr
ame
Orig
in
3X T
ap M
3 X
.5
3.0
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
TOO
L S
IDE
2X
3 S
lip F
it2.
5C
usto
mer
Inte
rface
(See
Not
e 3)
ISO
ME
TRIC
VIE
W
26.
419±
0.02
5
13.
098±
0.02
5
10.
051±
0.02
5
10.
943±
0.02
5
5.
3 6.
35 T
hru
Hol
e(S
ee N
ote
5)
22.
5°
22.
5°
17.
3
7.5
°
120
°
B.C
.33
3X T
ap M
3 X
.5
5.0
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
+X
+Y
-X
-Y+Z
-Z+Y
-Y
-X
+X
MO
UN
TIN
G S
IDE
2X
3 S
lip F
it5.
0C
usto
mer
Inte
rface
(See
Not
e 3)
Not
es: Mat
eria
l: M
ount
ing
and
Tool
Ada
pter
mad
e of
Alu
min
um,
1.Tr
ansd
ucer
mad
e of
har
dene
d st
ainl
ess
stee
l.W
AR
NIN
G: D
O N
OT
LOO
SEN
OR
REM
OVE
INTE
RFA
CE
2.PL
ATE
S O
R C
AB
LE D
UE
TO P
OTE
NTI
AL
DA
MA
GE.
DO
NO
T EX
CEE
D IN
TER
FAC
E D
EPTH
. MA
Y C
AU
SE D
AM
AG
E3.
Sta
ndar
d co
nnec
tor (
not s
how
n) h
as 1
7mm
dia
met
er &
is 6
7.5m
m lo
ng.
4.D
o no
t allo
w it
ems
pass
ing
thro
ugh
cent
er h
ole
to to
uch
both
the
Mou
ntin
g an
d5.
Tool
Ada
pter
Pla
tes
or a
ccur
acy
will
be
com
prom
ised
.
Rev.
Des
crip
tion
Initi
ator
Dat
e
09EC
O 1
4598
; Inc
reas
ed O
D to
one
dec
imal
pla
ce;
Cha
nged
Too
l Sid
e cu
stom
er in
terfa
ce h
ole
dep
ths:
M3
from
5.0
to 3
.0m
m, D
owel
hol
es fr
om 5
.0 to
2.5
mm
.SZ
J8/
24/2
016
B2:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
J. P
arke
r 3/1
4/07
P.Fu
sco
4/18
/07
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-13
14-
09
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Min
i40-
E Tr
ansd
ucer
with
Stra
in R
elie
ved
Cab
le
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com67
5.7.10 Legacy Mini40 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
26.
250±
0.02
5 15.
155±
0.02
5
17.
500±
0.02
5
120
°
B.C
. 33
TOO
L SI
DE
-Y+Y
-X+X
Min
i40-
R C
able
Exi
t(R
adia
l Cab
le O
nly)
Sens
ing
Ref
eren
ceFr
ame
Orig
in
3X T
ap M
3 X.
53.
0Eq
ually
Spa
ced
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
2X
3 S
lip F
it2.
5C
usto
mer
Inte
rface
(See
Not
e 3)
12.2
7(-
R a
nd -A
)14 (-E
)
40
.1
SID
E VI
EW
+Z-Z
Mou
ntin
g Ad
apte
rPl
ate
Tool
Ada
pter
Pl
ate
Min
i40-
R C
able
Exi
t(R
adia
l Cab
le O
nly)
Sens
ing
Ref
eren
ceFr
ame
Orig
in
13.
098±
0.02
5
10.
051±
0.02
5
26.
419±
0.02
5
6.35
Thr
u H
ole
(Rad
ial C
able
Onl
y)(S
ee N
ote
5)
10.
943±
0.02
5
22.5
°30
° (-R
)
B.C
. 33
120
°
7.5
°
MO
UN
TIN
G S
IDE
3X T
ap M
3 X
.55.
0Eq
ually
Spa
ced
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
+Y
-X+X
-Y
Min
i40-
R C
able
Exi
t(R
adia
l Cab
le O
nly)
2X
3 S
lip F
it2.
5C
usto
mer
Inte
rface
(See
Not
e 3)
ALT
ER
NA
TE C
AB
LE E
XIT
MIN
I40-
A
MIN
I40-
AC
able
Exi
t
ALT
ER
NA
TE C
AB
LE E
XIT
MIN
I40-
ES
ee -E
Dra
win
g 92
30-0
5-13
14 M
INI4
0-R
ISO
ME
TRIC
VIE
W
Not
es: M
ater
ial:
Mou
ntin
g an
d To
ol A
dapt
er m
ade
of e
ither
Alu
min
um o
r Sta
inle
ss S
teel
1.(c
usto
mer
spe
cifie
d). T
rans
duce
r mad
e of
har
dene
d St
ainl
ess
Stee
l.W
AR
NIN
G: D
O N
OT
LOO
SEN
OR
REM
OVE
INTE
RFA
CE
PLA
TES
2.O
R C
AB
LE F
ITTI
NG
DU
E TO
PO
TEN
TIA
L D
AM
AG
E.D
O N
OT
EXC
EED
INTE
RFA
CE
DEP
TH, M
AY
CA
USE
DA
MA
GE.
3.St
anda
rd c
onne
ctor
(not
sho
wn)
has
17m
m d
iam
eter
and
is 6
7.5m
m lo
ng.
4.Fo
r Rad
ial c
able
uni
ts: D
o no
t allo
w it
ems
pass
ing
thro
ugh
cent
er h
ole
5.to
touc
h bo
th th
e M
ount
ing
and
Tool
Ada
pter
Pla
tes
or a
ccur
acy
will
be c
ompr
omis
ed.
Rev.
Des
crip
tion
Initi
ator
Dat
e
11EC
O 1
4598
; Inc
reas
ed O
D to
one
dec
imal
pla
ce.
Rem
oved
cab
le e
xit d
imen
sion
for -
E co
nfig
urat
ion
and
ad
ded
not
e to
see
-E d
raw
ing
for A
ltern
ativ
e C
able
Exit
.SZ
J8/
24/2
016
B2:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
D. S
wan
son
3/9/
06
D. P
erry
3/9
/06
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-12
7811
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Min
i40
Tran
sduc
er R
adia
l & A
xial
Cab
le E
xit
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com68
5.7.11 Mini40 IP65/IP68 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
15.
155±
0.02
5
26.
250±
0.02
5
2X3
Slip
Fit
4.5
Cus
tom
er In
terfa
ce
B.C
.33
3X T
ap M
3X0.
5 4
.5E
qual
ly S
pace
dC
usto
mer
Inte
rface
17.
500±
0.02
5
Sen
sing
Ref
eren
ceFr
ame
Orig
in
+X -X
-Y+Y
TOO
L S
IDE
53
.3
21.
1
38
.1
Sen
sing
Ref
eren
ceFr
ame
Orig
in
Tool
Ada
pter
Pla
teM
ount
ing
Ada
pter
Pla
te
+Z-Z
SID
E V
IEW
Min
i40-
R C
able
Exi
t(S
tand
ard)
22.
5°
10.
051±
0.02
5
26.
419±
0.02
5
13.
098±
0.02
5 1
0.94
3±0.
025
3X T
ap M
3X0.
5 4
.5E
qual
ly S
pace
dC
usto
mer
Inte
rface
2X3
Slip
Fit
4.5
Cus
tom
er In
terfa
ce
33
7.
4
36.3
MA
X
30°
MO
UN
TIN
G S
IDE
+Y-Y
+X -X
Min
i40-
R C
able
Exi
t(S
tand
ard)
MIN
I40-
R IS
OM
ETR
IC V
IEW
ALT
ER
NA
TE C
AB
LE E
XIT
MIN
I40-
A
Not
es:
Mat
eria
l: S
tain
less
Ste
el.
1.To
ol a
nd M
ount
ing
Ada
pter
s ha
ve M
3 ta
pped
hol
es a
nd 3
mm
2.
dow
el p
in h
oles
for i
nter
faci
ng.
WA
RN
ING
: DO
NO
T LO
OSE
N O
R R
EMO
VE IN
TER
FAC
E3.
PLA
TES
DU
E TO
PO
TEN
TIA
L D
AM
AG
E.S
tand
ard
conn
ecto
r (no
t sho
wn)
has
17m
m d
iam
eter
& is
67.
5mm
long
. 4.
Cab
le is
IP65
/IP68
rate
d on
ly a
t tra
nsdu
cer e
nd.
5.
Min
i40-
A C
able
Exi
t(A
ltern
ate)
Rev.
Des
crip
tion
Initi
ator
Dat
e
03EC
O 1
4323
; Inc
reas
ed to
lera
nce
on d
owel
hol
e po
sitio
ns
from
.0
13 to
.0
25SZ
J3/
28/2
016
B3:
21
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
R. C
ham
bers
3/9
/12
J. W
alse
r 3/9
/12
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-14
2111
0516
-203
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP65
/IP68
Min
i40
Tran
sduc
er
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com69
5.8 Mini45 TitaniumSpecifications5.8.1 Mini45 Titanium Physical Properties
Table 4.34—Mini45 Titanium Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±670 lbf ±3000 NFz ±1400 lbf ±6400 NTxy ±590 inf-lb ±67 NmTz ±720 inf-lb ±81 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 2.5x105 lb/in 4.3x107 N/m Z-axisforce(Kz) 3.3x105 lb/in 5.7x107 N/m X-axis&Y-axistorque(Ktx,Kty) 8.6x104 lbf-in/rad 9.7x103 Nm/rad Z-axistorque(Ktz) 1.8x105 lbf-in/rad 2.0x104 Nm/rad Resonant Frequency Fx, Fy, Tz 5800 Hz 5800 HzFz, Tx, Ty 4600 Hz 4600 HzPhysicalSpecifications Weight1 0.22 lb 0.0998 kgDiameter1 1.77 in 45 mmHeight1 0.69 in 17.5 mmNote:
1. Specificationsincludestandardinterfaceplates.
5.8.2 CalibrationSpecifications(excludesCTLcalibrations)Table 4.35—Mini45TitaniumCalibrations(excludesCTLcalibrations)1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Mini45 Titanium US-15-25 15 30 25 25 3/800 1/160 1/300 1/400Mini45 Titanium US-30-50 30 60 50 50 3/400 1/80 1/150 1/200Mini45 Titanium US-60-100 60 120 100 100 3/200 1/40 1/75 1/100
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz (N)
Tx,Ty (Nm)
Tz (Nm)
Mini45 Titanium SI-60-3 60 120 3 3 1/60 7/240 3/8000 1/3200Mini45 Titanium SI-120-6 120 240 6 6 1/30 7/120 3/4000 1/1600Mini45 Titanium SI-240-12 240 480 12 12 1/15 7/60 3/2000 1/800
Sensing Ranges Resolution(DAQ,NetF/T)3
Notes:1. These system resolutions quoted are the effective resolution after dropping four counts of noise. The effective
resolutioncanbeimprovedwithfiltering.2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. DAQ resolutions are typical for a 16-bit data acquisition system.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com70
5.8.3 CTL CalibrationSpecificationsTable 4.36— Mini45 Titanium CTL Calibrations1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Mini45 Titanium US-15-25 15 30 25 25 3/400 1/80 1/150 1/200Mini45 Titanium US-30-50 30 60 50 50 3/200 1/40 1/75 1/100Mini45 Titanium US-60-100 60 120 100 100 3/100 1/20 2/75 1/50
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz (N)
Tx,Ty (Nm)
Tz (Nm)
Mini45 Titanium SI-60-3 60 120 3 3 1/30 7/120 3/4000 1/1600Mini45 Titanium SI-120-6 120 240 6 6 1/15 7/60 3/2000 1/800Mini45 Titanium SI-240-12 240 480 12 12 2/15 7/30 3/1000 1/400
Sensing Ranges Resolution(Controller)Notes:
1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight counts of noise.Theeffectiveresolutioncanbeimprovedwithfiltering.
2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.
5.8.4 CTL Analog OutputTable 4.37— Mini45 Titanium Analog Output
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty,Tz (lbf-in)
Fx,Fy (lbf/V)
Fz (lbf/V)
Tx,Ty,Tz (lbf-in/V)
Mini45 Titanium US-15-25 ±15 ±30 ±25 1.5 3 2.5Mini45 Titanium US-30-50 ±30 ±60 ±50 3 6 5Mini45 Titanium US-60-100 ±60 ±120 ±100 6 12 10
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz (N)
Tx,Ty,Tz (Nmm)
Fx,Fy (N/V)
Fz (N/V)
Tx,Ty,Tz (Nm/V)
Mini45 Titanium SI-60-3 ±60 ±120 ±3 6 12 0.3Mini45 Titanium SI-120-6 ±120 ±240 ±6 12 24 0.6Mini45 Titanium SI-240-12 ±240 ±480 ±12 24 48 1.2
Analog Output Range Analog±10VSensitivity1
Note:1. ±5V Sensitivity values are double the listed ±10V Sensitivity values.
5.8.5 CTLCountsValueTable 4.38—CountsValue
Sensor Calibration Fx,Fy,Fz (/lbf)
Tx,Ty,Tz (/lbf-in)
Fx,Fy,Fz (/N)
Tx,Ty,Tz (/Nm)
Mini45 Titanium US-15-25/SI-60-3 640 704 128 6016Mini45 Titanium US-30-50/SI-120-6 320 352 64 3008Mini45 Titanium US-60-100/SI-240-12 160 176 32 1504Mini45 Titanium Tool Transform Factor 0.009091 in/lbf 0.21277 mm/N
CountsValue–Standard(US) CountsValue–Metric(SI)
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com71
5.8.6 Mini45Titanium(USCalibrationComplexLoading)
HelpMini45 Titanium
US-15-25 US-30-50 US-60-100
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com72
5.8.7 Mini45Titanium(SICalibrationComplexLoading)
HelpMini45 Titanium
SI-60-3 SI-120-6 SI-240-12
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com73
5.8.8 Mini45 Titanium Axial Exit Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
B.C
.39
.2
10°
20
°Ty
p
6X T
ap M
3X0.
5 5
Pai
rs E
qual
ly S
pace
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mer
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rface
(See
Not
e 3)
9.53
89.
512
3C
usto
mer
Inte
rface
(See
Not
e 5)
26°
19.
622
0.02
5
3 S
lip F
it 5
Cus
tom
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terfa
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30°
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. 25
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able
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IDE
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Min
i45T
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able
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t(A
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-Z+Z
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IEW
14.
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12.
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Fit
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rface
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Not
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20°
40°
Typ
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ap M
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Pai
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9.35
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tani
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is 6
7.5m
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4.D
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to to
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both
the
Mou
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and
Tool
Ada
pter
Pla
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ccur
acy
will
be
com
prom
ised
.
Rev.
Des
crip
tion
Initi
ator
Dat
e
02EC
O13
701:
Ad
ded
Rad
ial E
xit O
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n; R
emov
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TITLE SC
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SIZE
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WIN
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R
PRO
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T #
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EN A
UTHO
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OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Min
i45
Tita
nium
Tra
nsdu
cer
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com74
5.8.9 Mini45 Titanium Right Angle E-Exit Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
19.
622±
0.02
5 3 S
lip F
it 5
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
9.53
89.
512
3C
usto
mer
Inte
rface
(See
Not
es 4
& 5
)
50°
20°
6X T
ap M
3X0.
5 5
Pai
rs E
qual
ly S
pace
dC
usto
mer
Inte
rface
(See
Not
e 3)
B.C
.39
.24
15.
8
13.
5
31.
3
30.
9
5.
3
MO
UN
TIN
G S
IDE
+X -X
-Y+Y
45
17.
5
5.5
8.3
Sen
sing
Ref
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ceFr
ame
Orig
inM
ount
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Ada
pter
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late
Tool
Ada
pter
P
late
-Z+Z
SID
E V
IEW
14.
097±
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5 2
1.14
6±0.
025
12.
208±
0.02
5 2X
3
Slip
Fit
5C
usto
mer
Inte
rface
(See
Not
e 3)
B.C
.28
.19
40°
Typ
6X T
ap M
3X0.
5 5
Pai
rs E
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pace
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Inte
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(See
Not
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9.57
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rface
(See
Not
es 4
& 5
)
20°
Sen
sing
Ref
eren
ceFr
ame
Orig
in
TOO
L S
IDE
+X -X
-Y+Y
ISO
ME
TRIC
VIE
W
Not
es:
Mat
eria
l: Tr
ansd
ucer
, Mou
ntin
g an
d To
ol A
dapt
er m
ade
of
1.Ti
tani
um T
i-6A
l-4V
Gra
de 5
WA
RN
ING
: DO
NO
T LO
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R R
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TER
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S 2.
OR
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DO
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D IN
TER
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, MA
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AU
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Thru
hol
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9.4
mm
. S
peci
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tole
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re fo
r mat
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to a
bos
s.4.
Do
not a
llow
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s pa
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5.an
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Sta
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as 1
7mm
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met
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nd is
67.
5mm
long
.6.
Rev.
Des
crip
tion
Initi
ator
Dat
e
01In
itial
Dra
win
gRK
C1/
4/20
13
B2:
11
1RE
VISI
ON
NO
TES:
UN
LESS
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ISE
SPEC
IFIE
D.
DO
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T SC
ALE
DRA
WIN
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ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
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BY:
CHE
CKE
D B
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R. C
ham
bers
1/1
5/13
L. F
ishe
r 1/3
1/13
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-14
4112
1116
-101
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
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TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Min
i45
Tita
nium
Rig
ht A
ngle
E-E
xit T
rans
duce
r
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com75
5.9 Mini45Specifications(IncludesIP65/IP68Versions)5.9.1 Mini45 Physical Properties
Table 4.39—Mini45 Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±1100 lbf ±5100 NFz ±2300 lbf ±10000 NTxy ±1000 inf-lb ±110 NmTz ±1200 inf-lb ±140 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.2x105 lb/in 7.4x107 N/m Z-axisforce(Kz) 5.6x105 lb/in 9.8x107 N/m X-axis&Y-axistorque(Ktx,Kty) 1.5x105 lbf-in/rad 1.7x104 Nm/rad Z-axistorque(Ktz) 3.1x105 lbf-in/rad 3.5x104 Nm/rad Resonant Frequency Fx, Fy, Tz 5600 Hz 5600 HzFz, Tx, Ty 5400 Hz 5400 HzPhysicalSpecifications Weight1 0.202 lb 0.0917 kgDiameter1 1.77 in 45 mmHeight1 0.618 in 15.7 mmNote:
1. Specificationsincludestandardinterfaceplates.
5.9.2 Mini45 IP65/IP68 Physical PropertiesTable 4.40—Mini45 IP65/IP68 Physical Properties
Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±1100 lbf ±5100 NFz ±2300 lbf ±10000 NTxy ±1000 inf-lb ±110 NmTz ±1200 inf-lb ±140 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.2x105 lb/in 7.4x107 N/m Z-axisforce(Kz) 5.6x105 lb/in 9.8x107 N/m X-axis&Y-axistorque(Ktx,Kty) 1.5x105 lbf-in/rad 1.7x104 Nm/rad Z-axistorque(Ktz) 3.1x105 lbf-in/rad 3.5x104 Nm/rad Resonant Frequency Fx, Fy, Tz 5200 Hz 5200 HzFz, Tx, Ty 4200 Hz 4200 HzPhysicalSpecifications Weight1 0.861 lb 0.391 kgDiameter1 2.28 in 57.9 mmHeight1 0.988 in 25.1 mmNote:
1. Specificationsincludestandardinterfaceplates.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com76
CAUTION: When submerged, IP68 transducers exhibit a decrease in Fz range related to the submersion depth. This loss is the result of pressure-induced preloading on the transducer. The preload can be masked by biasing the transducer at the depth prior to applying the load to be measured. The following estimates are for room temperature fresh water at sea level.
Submersion DepthIP68 Mini45 US MetricFz preload at 4 m depth 17.0 lb 75.5 NFz preload at other depths -1.29 lb/ft × depthInFeet -18.9 N/m × depthInMeters
5.9.3 CalibrationSpecifications(excludesCTLcalibrations)Table 4.41—Mini45Calibrations(excludesCTLcalibrations)1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Mini45 US-30-40 30 60 40 40 1/80 1/80 1/88 1/176Mini45 US-60-80 60 120 80 80 1/40 1/40 1/44 1/88Mini45 US-120-160 120 240 160 160 1/20 1/20 1/22 1/44
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Mini45 SI-145-5 145 290 5 5 1/16 1/16 1/752 1/1504Mini45 SI-290-10 290 580 10 10 1/8 1/8 1/376 1/752Mini45 SI-580-20 580 1160 20 20 1/4 1/4 1/188 1/376
Sensing Ranges Resolution(DAQ,NetF/T)4
Notes:1. These system resolutions quoted are the effective resolution after dropping four counts of noise. The effective
resolutioncanbeimprovedwithfiltering.2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. For IP68 version see caution on physical properties page.4. DAQ resolutions are typical for a 16-bit data acquisition system.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com77
5.9.4 CTL CalibrationSpecificationsTable 4.42— Mini45 CTL Calibrations1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Mini45 US-30-40 30 60 40 40 1/40 1/40 1/44 1/88Mini45 US-60-80 60 120 80 80 1/20 1/20 1/22 1/44Mini45 US-120-160 120 240 160 160 1/10 1/10 1/11 1/22
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Mini45 SI-145-5 145 290 5 5 1/8 1/8 1/376 1/752Mini45 SI-290-10 290 580 10 10 1/4 1/4 1/188 1/376Mini45 SI-580-20 580 1160 20 20 1/2 1/2 1/94 1/188
Sensing Ranges Resolution(Controller)Notes:
1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight counts of noise.Theeffectiveresolutioncanbeimprovedwithfiltering.
2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. For IP68 version see caution on physical properties page.
5.9.5 CTL Analog OutputTable 4.43— Mini45 Analog Output
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz2 (lbf)
Tx,Ty,Tz (lbf-in)
Fx,Fy (lbf/V)
Fz2 (lbf/V)
Tx,Ty,Tz (lbf-in/V)
Mini45 US-30-40 ±30 ±60 ±40 3 6 4Mini45 US-60-80 ±60 ±120 ±80 6 12 8Mini45 US-120-160 ±120 ±240 ±160 12 24 16
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz2 (N)
Tx,Ty,Tz (Nm)
Fx,Fy (N/V)
Fz2 (N/V)
Tx,Ty,Tz (Nm/V)
Mini45 SI-145-5 ±145 ±290 ±5 14.5 29 0.5Mini45 SI-290-10 ±290 ±580 ±10 29 58 1Mini45 SI-580-20 ±580 ±1160 ±20 58 116 2
Analog Output Range Analog±10VSensitivity1
Notes:1. ±5V Sensitivity values are double the listed ±10V Sensitivity values.2. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com78
5.9.6 CTLCountsValue
Table 4.44—CountsValue
Sensor Calibration Fx,Fy,Fz (/lbf)
Tx,Ty,Tz (/lbf-in)
Fx,Fy,Fz (/N)
Tx,Ty,Tz (/Nm)
Mini45 US-30–40/SI-145–5 640 704 128 6016Mini45 US-60–80/SI-290–10 320 352 64 3008Mini45 US-120–160/SI-580–20 160 176 32 1504Mini45 Tool Transform Factor 0.009091 in/lbf 0.21277 mm/N
CountsValue–Standard(US) CountsValue–Metric(SI)
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com79
5.9.7 Mini45(USCalibrationComplexLoading)(IncludesIP65/IP68)1
HelpMini45
US-30-40 US-60-80 US-120-160
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com80
5.9.8 Mini45(SICalibrationComplexLoading)(IncludesIP65/IP68)1
HelpMini45
SI-145-5 SI-290-10 SI-580-20
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com81
5.9.9 Mini45-E Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
21.1
46±0
.025
12.2
08±0
.025 9.57
69.
474
3.0
(See
Not
e 5)
20°
2X
3 S
lip F
it 3.
2C
usto
mer
Inte
rface
(See
Not
e 3)
14.
097±
0.02
5
10°
40°
B.C
.28
.2
6X T
ap M
3X0.
5 3.
0P
airs
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
Sen
sing
Ref
eren
ceFr
ame
Orig
in
+X
-X
-Y+Y
TOO
L S
IDE
12.1
45
3.5
15.7
-Z
Sen
sing
Ref
eren
ceFr
ame
Orig
in
Tool
Ada
pter
Mou
ntin
g A
dapt
er
SID
E V
IEW
9.53
89.
512
3.0
(See
Not
e 5)
26.7
17.3
15.5
19.6
22±0
.025 10
°
10°3 S
lip F
it 5.
0C
usto
mer
Inte
rface
(See
Not
e 3)
5.
3
B.C
. 39
.24
+Z
6X T
ap M
3X0.
5 5.
0P
airs
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
+X -X
-Y+Y
MO
UN
TIN
G S
IDE
ISO
ME
TRIC
VIE
W
NO
TES
:M
ater
ial:
Mou
ntin
g an
d To
ol A
dapt
er m
ade
of A
lum
inum
, Tra
nsdu
cer m
ade
of S
tain
less
Ste
el.
1.W
AR
NIN
G: D
O N
OT
LOO
SEN
OR
REM
OVE
INTE
RFA
CE
PLA
TES
OR
CA
BLE
DU
E TO
2.
POTE
NTI
AL
DA
MA
GE.
DO
NO
T EX
CEE
D IN
TER
FAC
E D
EPTH
. MA
Y C
AU
SE D
AM
AG
E.3.
Sta
ndar
d co
nnec
tor (
not s
how
n) h
as 1
7mm
dia
met
er &
is 6
7.5m
m lo
ng.
4.D
o no
t allo
w it
ems
pass
ing
thro
ugh
cent
er h
ole
to to
uch
both
the
Mou
ntin
g an
d To
ol A
dapt
er
5.P
late
s or
acc
urac
y w
ill b
e co
mpr
omis
ed.
Rev.
Des
crip
tion
Initi
ator
Dat
e
05
ECO
139
27; U
pdat
ed to
show
cor
rect
orie
ntat
ion
of T
ool A
dap
ter,
repo
sitio
ned
Too
l Sid
e d
imen
sions
/cal
l out
s to
elim
inat
e ov
erla
ppin
g, a
nd u
pdat
ed T
itle
Bloc
k. U
pdat
ed N
otes
to in
clud
e m
ore
det
aile
d in
form
atio
n an
d to
mov
e C
usto
mer
Inte
rface
from
N
otes
to sp
ecifi
c as
sem
bly
feat
ures
.
SZJ
3/15
/201
6
B2:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
J. P
arke
r 1/1
0/07
P. F
usco
1/1
0/07
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-13
1505
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Min
i45-
E Tr
ansd
ucer
with
Stra
in R
elie
ved
Cab
le
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com82
5.9.10 Mini45-ERA Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
19.6
22±0
.025
50°
20°
39.2
4
15.8
31.3
30.95.
3
9.57
69.
474
3(S
ee N
ote
5)
13.5
6X T
ap M
3X0.
5 5
Pai
rs E
qual
ly S
pace
dC
usto
mer
Inte
rface
(S
ee N
ote
3)
3 (S
lip F
it)
5.0
Cus
tom
er In
terfa
ce(S
ee N
ote
3) MO
UN
TIN
G S
IDE
+X -X
-Y+Y
45
15.7
8.3
SID
E V
IEW
Tool
Ada
pter
Pla
teM
ount
ing
Ada
pter
Pla
te
Sen
sing
Ref
eren
ceFr
ame
Orig
in
+Z
14.0
97±0
.025
21.1
46±0
.025
12.2
08±0
.025
40°
40°
9.57
69.
474
3(S
ee N
ote
5)
6X T
ap M
3X0.
5 3
Pai
rs E
qual
ly S
pace
dC
usto
mer
Inte
rface
(See
Not
e 3)
2X
3 (S
lip F
it)
3.2
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
28
.2
TOO
L S
IDES
ensi
ng R
efer
ence
Fram
e O
rigin
-X
+X
+Y-Y
ISO
ME
TRIC
VIE
W
NO
TES
:1.
Mat
eria
l: M
ount
ing
and
Tool
ada
pter
mad
e of
Alu
min
um, T
rans
duce
r mad
e
of S
tain
less
Ste
el.
2. W
AR
NIN
G: D
O N
OT
LOO
SEN
OR
REM
OVE
INTE
RFA
CE
PLA
TES
OR
C
AB
LE D
UE
TO P
OTE
NTI
AL
DA
MA
GE.
3. D
O N
OT
EXC
EED
INTE
RFA
CE
DEP
TH. M
AY
CA
USE
DA
MA
GE.
4. S
tand
ard
conn
ecto
r (no
t sho
wn)
has
17m
m d
iam
eter
& is
67.
5mm
long
.5.
Do
not a
llow
item
s pa
ssin
g th
roug
h ce
nter
hol
e to
touc
h bo
th th
e m
ount
ing
a
nd to
ol a
dapt
er p
late
s or
acc
urac
y w
ill b
e co
mpr
omis
ed.
-Z
Rev.
Des
crip
tion
Initi
ator
Dat
e
04EC
O 1
4343
: Ad
ded
miss
ing
28.2
cal
l out
to T
OO
L SI
DE
view
; Upd
ated
not
es, f
orm
attin
g to
cur
rent
stan
dar
ds.
TBC
8/1/
2016
B2:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
R. C
ham
bers
7/1
7/08
P. F
usco
7/1
7/08
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-13
3804
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Min
i45-
ERA
Tran
sduc
er
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com83
5.9.11 Mini45-AE Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
14
4X
R3
20°
10°
5.8
8.4
19.
622±
0.02
5
B.C
. 39
.24
3 S
lip F
it 5
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
9.53
89.
512
3C
usto
mer
Inte
rface
(See
Not
es 4
& 5
)
30°
7
-X
+Y-Y
+X
6X T
ap M
3X0.
55
Pai
rs E
qual
ly S
pace
dC
usto
mer
Inte
rface
(See
Not
e 3)
45
5.7
15.
7
5.
3
3.6
21.
2 3
.7
+Z-Z
Tool
Ada
pter
Pla
te
Sen
sing
Ref
eren
ce
Fram
e O
rigin
Mou
ntin
g A
dapt
er
Pla
te
12.
208±
0.02
5
14.
097±
0.02
5
21.
146±
0.02
5
20°
40°
9.57
69.
474
3(S
ee N
otes
4 &
5)
B.C
. 28
.2
6X T
ap M
3X0.
53
Pai
rs E
qual
ly S
pace
dC
usto
mer
Inte
rface
(See
Not
e 3)
-X
-Y
+X
+Y
2X
3 S
lip F
it 3.
2C
usto
mer
Inte
rface
(See
Not
e 3)
Sen
sing
Ref
eren
ceFr
ame
Orig
in
SID
E V
IEW
ISO
ME
TRIC
VIE
W
Not
es:
Mat
eria
l: M
ount
ing
and
Tool
Ada
pter
mad
e of
Alu
min
um. T
rans
duce
r 1.
mad
e of
har
dene
d S
tain
less
Ste
el.
WA
RN
ING
: DO
NO
T LO
OSE
N O
R R
EMO
VE IN
TER
FAC
E PL
ATE
S 2.
OR
CA
BLE
DU
E TO
PO
TEN
TIA
L D
AM
AG
E.D
O N
OT
EXC
EED
INTE
RFA
CE
DEP
TH, M
AY
CA
USE
DA
MA
GE.
3.Th
ru h
ole
is 9
.4m
m.
Spe
cifie
d to
lera
nces
are
for m
atin
g to
a b
oss.
4.D
o no
t allo
w it
ems
pass
ing
thro
ugh
cent
er h
ole
to to
uch
both
the
Mou
ntin
g5.
and
Tool
Ada
pter
Pla
tes
or a
ccur
acy
will
be
com
prom
ised
.C
onne
ctor
(not
sho
wn)
has
17m
m d
iam
eter
and
is 6
7.5m
m lo
ng.
6.
MO
UN
TIN
G S
IDE
TOO
L S
IDE
Rev.
Des
crip
tion
Initi
ator
Dat
e
01In
itial
Dra
win
gRK
C6/
7/20
12
02Ec
o 14
465;
Bas
e m
odel
orig
in w
as c
hang
ed c
ausin
g ov
erla
ppin
g d
ims a
nd c
allo
uts o
n th
is d
raw
ing.
D
raw
ing
corre
cted
.LJ
H6/
16/2
016
B1:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
R. C
ham
bers
6/7
/12
J. W
alse
r 6/1
2/12
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-14
3112
0316
-102
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Min
i45-
AE T
rans
duce
r
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com84
5.9.12 Mini45 IP65/IP68 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
19.
622±
0.02
5
9.53
89.
512
3C
usto
mer
Inte
rface
3 S
lip F
it 4
.5C
usto
mer
Inte
rface
B.C
. 39
.2
38.6
MA
X
7.
4
6X T
ap M
3X0.
5 4
.5P
airs
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce 1
0° 1
0°
B.C
. 25
.4
120
°
22.
5°
+Y
-X
-Y
+X
MO
UN
TIN
G S
IDE
Min
i45-
A C
able
Exi
t(A
ltern
ate)
25.
1
57
.9
10.4
MA
X
Sen
sing
Ref
eren
ceFr
ame
Orig
in
Mou
ntin
g A
dapt
erP
late
Tool
ing
Ada
pter
Pla
te
+Z-Z
SID
E V
IEW
Min
i45-
A C
able
Exi
t(A
ltern
ate)
2X
3 S
lip F
it 4
.5C
usto
mer
Inte
rface
B.C
. 28
.2
14.
097±
0.02
5
20°
2
0°
21.
146±
0.02
5
12.
207±
0.02
5
6X T
ap M
3X0.
5 4
.5P
airs
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce
Sen
sing
Ref
eren
ceFr
ame
Orig
in
-Y
+X
+Y
-X
TOO
L S
IDE
MIN
I45-
R IS
OM
ETR
IC V
IEW
ALT
ER
NA
TE C
AB
LE E
XIT
MIN
I45-
A
Not
es:
Mat
eria
l: S
tain
less
Ste
el1.
Tool
and
Mou
ntin
g A
dapt
ers
have
M3
tapp
ed h
oles
and
3m
m d
owel
pin
hol
es fo
r 2.
inte
rfaci
ng.
WA
RN
ING
: DO
NO
T LO
OSE
N O
R R
EMO
VE IN
TER
FAC
E PL
ATE
S D
UE
TO
3.PO
TEN
TIA
L D
AM
AG
E.S
tand
ard
conn
ecto
r (no
t sho
wn)
has
17m
m d
iam
eter
& is
67.
5mm
long
.4.
Cab
le is
IP65
rate
d on
ly a
t tra
nsdu
cer e
nd.
5.
Rev.
Des
crip
tion
Initi
ator
Dat
e
03EC
O 1
1152
: Ad
d a
xial c
able
exit
loca
tion
LTF
6/27
/201
3
B1:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
L. F
ishe
r, 2/
18/1
3
J. W
alse
r, 2/
20/1
3
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-14
4313
0130
-103
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP65
/IP68
Min
i45
Tran
sduc
er
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com85
5.9.13 Legacy Mini45 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
9.57
69.
474
3
(See
Not
es 4
& 5
)
21.1
46±0
.02512
.208
±0.0
252X
3
Slip
Fit
3.4
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
40°
Typ.
14.0
97±0
.025
20°
20°
B.C
. 28
.2
6X T
ap M
3x0.
5 3.
0Pa
irs E
qual
ly S
pace
dC
usto
mer
Inte
rface
(See
Not
e 3)
Min
i45-
R C
able
Exit
(Sta
ndar
d)
TOO
L SI
DE
+X
-Y+Y
-X
Sens
ing
Refe
renc
eFr
ame
Orig
in
45
15.7
5.7
3.7To
ol A
dapt
er
Plat
e
Mou
ntin
g A
dapt
er P
late
+Z-Z
SID
E V
IEW
Sens
ing
Refe
renc
eFr
ame
Orig
in
9.53
89.
512
3
Cus
tom
er In
terfa
ce(S
ee N
otes
4 &
5)
19.6
22±0
.025
3 Sl
ip F
it5
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
5.2
2
10°
(120
°)
20°
Typ.
B.C
. 39
.24
B.C
. 25
.4
6X T
ap M
3x0.
55.
0Pa
irs E
qual
ly S
pace
dC
usto
mer
Inte
rface
(See
Not
e 3)
MO
UNTIN
G S
IDE
-X
-Y+Y
+X
Not
es: M
ount
ing
and
Tool
Ada
pter
mad
e of
eith
er A
lum
inum
or S
tain
less
Ste
el1.
(cus
tom
er sp
ecifi
ed).
Tra
nsdu
cer m
ade
of h
arde
ned
Stai
nles
s Ste
el.
WA
RNIN
G: D
O N
OT L
OO
SEN
OR
REM
OVE
INTE
RFA
CE
PLA
TES
2.O
R C
ABL
E FI
TTIN
G D
UE TO
PO
TEN
TIAL D
AM
AG
E.DO
NO
T EXC
EED
INTE
RFA
CE
DEPT
H, M
AY
CA
USE
DAM
AG
E.3.
Thru
hol
e is
9.4m
m.
Spec
ified
tole
ranc
es a
re fo
r mat
ing
to a
bos
s.4.
Do
not a
llow
item
s pas
sing
thro
ugh
cent
er h
ole
to to
uch
both
the
Mou
ntin
g5.
and
Tool
Ada
pter
Pla
tes o
r acc
urac
y w
ill be
com
prom
ised.
Con
nect
or (n
ot sh
own)
has
17m
m d
iam
eter
and
is 6
7.5m
m lo
ng.
6.
Min
i45-
A C
able
Exit
(Alte
rnat
e)
MIN
I45-
R IS
OM
ETRI
C V
IEW
ALT
ERN
ATE
CA
BLE
EXIT
MIN
I45-
A
ALT
ERN
ATE
CA
BLE
EXIT
MIN
I45-
EA
LTER
NA
TE C
ABL
E EX
ITM
INI4
5-ER
AA
LTER
NA
TE C
ABL
E EX
ITM
INI4
5-A
E
Min
i45-
R C
able
Exit
(Sta
ndar
d)
Rev.
Des
crip
tion
Initi
ator
Dat
e
20EC
O 1
0071
; Ad
d a
ltern
ate
cabl
e ex
it vi
ews f
or
M
ini4
5-A
E &
Min
i45-
ERA
MSD
9/6/
2012
B2:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
B. D
iges
o
D.N
orto
n 2/
26/0
6
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-10
9420
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Min
i45
Tran
sduc
er
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com86
5.10 Mini58Specifications(IncludesIP60/IP65/IP68Versions)5.10.1 Mini58 Physical Properties
Table 4.45—Mini58 Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±4800 lbf ±21000 NFz ±11000 lbf ±48000 NTxy ±5300 inf-lb ±590 NmTz ±7100 inf-lb ±800 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 1.4x106 lb/in 2.5x108 N/m Z-axisforce(Kz) 2.1x106 lb/in 3.7x108 N/m X-axis&Y-axistorque(Ktx,Kty) 9.3x105 lbf-in/rad 1.1x105 Nm/rad Z-axistorque(Ktz) 1.8x106 lbf-in/rad 2.0x105 Nm/rad Resonant Frequency Fx, Fy, Tz 3000 Hz 3000 HzFz, Tx, Ty 5700 Hz 5700 HzPhysicalSpecifications Weight1 0.76 lb 0.345 kgDiameter1 2.28 in 58 mmHeight1 1.18 in 30 mmNote:
1. Specificationsincludestandardinterfaceplates.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com87
5.10.2 Mini58 IP60 Physical PropertiesTable 4.46—Mini58 IP60 Physical Properties
Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±4800 lbf ±21000 NFz ±11000 lbf ±48000 NTxy ±5300 inf-lb ±590 NmTz ±7100 inf-lb ±800 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 1.4x106 lb/in 2.5x108 N/m Z-axisforce(Kz) 2.1x106 lb/in 3.7x108 N/m X-axis&Y-axistorque(Ktx,Kty) 9.3x105 lbf-in/rad 1.1x105 Nm/rad Z-axistorque(Ktz) 1.8x106 lbf-in/rad 2.0x105 Nm/rad Resonant Frequency Fx, Fy, Tz N/A N/AFz, Tx, Ty N/A N/APhysicalSpecifications Weight1 1.15 lb 0.522 kgDiameter1 3.23 in 82 mmHeight1 1.42 in 36.2 mmNote:
1. Specificationsincludestandardinterfaceplates.
5.10.3 Mini58 IP65/IP68 Physical PropertiesTable 4.47—Mini58 IP65/IP68 Physical Properties
Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±4800 lbf ±21000 NFz ±11000 lbf ±48000 NTxy ±5300 inf-lb ±590 NmTz ±7100 inf-lb ±800 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 1.4x106 lb/in 2.5x108 N/m Z-axisforce(Kz) 2.1x106 lb/in 3.7x108 N/m X-axis&Y-axistorque(Ktx,Kty) 9.3x105 lbf-in/rad 1.1x105 Nm/rad Z-axistorque(Ktz) 1.8x106 lbf-in/rad 2.0x105 Nm/rad Resonant Frequency Fx, Fy, Tz N/A N/AFz, Tx, Ty N/A N/APhysicalSpecifications Weight1 1.77 lb 0.804 kgDiameter1 2.58 in 65.4 mmHeight1 1.48 in 37.6 mmNote:
1. Specificationsincludestandardinterfaceplates.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com88
CAUTION: When submerged, IP68 transducers exhibit a decrease in Fz range related to the submersion depth. This loss is the result of pressure-induced preloading on the transducer. The preload can be masked by biasing the transducer at the depth prior to applying the load to be measured. The following estimates are for room temperature fresh water at sea level.
Submersion DepthIP68 Mini58 US MetricFz preload at 4 m depth 24.3 lb 108 NFz preload at other depths -1.86 lb/ft × depthInFeet -27.1 N/m × depthInMeters
5.10.4 CalibrationSpecifications(excludesCTLcalibrations)Table 4.48—Mini58Calibrations(excludesCTLcalibrations)1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Mini58 US-150-250 150 375 250 250 5/112 1/16 1/20 7/240Mini58 US-300-500 300 750 500 500 5/56 1/8 1/10 7/120Mini58 US-600-1000 600 1500 1000 1000 5/28 1/4 1/5 7/60
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Mini58 SI-700-30 700 1700 30 30 1/6 7/24 9/1600 1/320Mini58 SI-1400-60 1400 3400 60 60 1/3 7/12 9/800 1/160Mini58 SI-2800-120 2800 6800 120 120 3/4 1 1/4 9/400 1/80
Sensing Ranges Resolution(DAQ,NetF/T)4
Notes:1. These system resolutions quoted are the effective resolution after dropping four counts of noise. The effective
resolutioncanbeimprovedwithfiltering.2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. For IP68 version see caution on physical properties page.4. DAQ resolutions are typical for a 16-bit data acquisition system.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com89
5.10.5 CTL CalibrationSpecificationsTable 4.49— Mini58 CTL Calibrations1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Mini58 US-150-250 150 375 250 250 5/56 1/8 1/10 7/120Mini58 US-300-500 300 750 500 500 5/28 1/4 1/5 7/60Mini58 US-600-1000 600 1500 1000 1000 5/14 1/2 2/5 7/30
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Mini58 SI-700-30 700 1700 30 30 1/3 7/12 9/800 1/160Mini58 SI-1400-60 1400 3400 60 60 2/3 1 1/6 9/400 1/80Mini58 SI-2800-120 2800 6800 120 120 1 1/2 2 1/2 9/200 1/40
Sensing Ranges Resolution(Controller)Notes:
1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight counts of noise.Theeffectiveresolutioncanbeimprovedwithfiltering.
2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. For IP68 version see caution on physical properties page.
5.10.6 CTL Analog OutputTable 4.50— Mini58 Analog Output
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz2 (lbf)
Tx,Ty,Tz (lbf-in)
Fx,Fy (lbf/V)
Fz2 (lbf/V)
Tx,Ty,Tz (lbf-in/V)
Mini58 US-150-250 ±150 ±375 ±250 15 37.5 25Mini58 US-300-500 ±300 ±750 ±500 30 75 50Mini58 US-600-1000 ±600 ±1500 ±1000 60 150 100
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz2 (N)
Tx,Ty,Tz (Nm)
Fx,Fy (N/V)
Fz2 (N/V)
Tx,Ty,Tz (Nm/V)
Mini58 SI-700-30 ±700 ±1700 ±30 70 170 3Mini58 SI-1400-60 ±1400 ±3400 ±60 140 340 6Mini58 SI-2800-120 ±2800 ±6800 ±120 280 680 12
Analog Output Range Analog±10VSensitivity1
Notes:1. ±5V Sensitivity values are double the listed ±10V Sensitivity values.2. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com90
5.10.7 CTLCountsValueTable 4.51—CountsValue
Sensor Calibration Fx,Fy,Fz (/lbf)
Tx,Ty,Tz (/lbf-in)
Fx,Fy,Fz (/N)
Tx,Ty,Tz (/Nm)
Mini58 US-150-250/SI-700-30 448 960 96 6400Mini58 US-300-500/SI-1400-60 224 480 48 3200Mini58 US-600-1000/SI-2800-120 112 240 16 1600Mini58 Tool Transform Factor See Tool Transform Factor table
CountsValue–Standard(US) CountsValue–Metric(SI)
5.10.8 Tool Transform Factor
Table 4.52—Tool Transform FactorSensor Calibration US(English) SI(Metric)Mini58 US-150-250/SI-700-30 0.00467 in/lbf 0.150 mm/NMini58 US-300-500/SI-1400-60 0.00467 in/lbf 0.150 mm/NMini58 US-600-1000/SI-2800-120 0.00467 in/lbf 0.150 mm/N
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com91
5.10.9 Mini58(USCalibrationComplexLoading)(IncludesIP60/IP65/IP68)1
HelpMini58
US-150-250 US-300-500 US-600-1000
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com92
5.10.10 Mini58(SICalibrationComplexLoading)(IncludesIP60/IP65/IP68)1
HelpMini58
SI-700-30 SI-1400-60 SI-2800-120
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com93
5.10.11 Mini58 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
18°
36°
Typ
(See
Not
e 3)
Cus
tom
er In
terfa
cePa
irs E
qual
ly S
pace
d6X
Tap
M5X
0.8
6.5
23±0
.025
34.5
±0.0
25
19.9
±0.0
25
6.1 8.
4
14
9.5
Thru
(See
Not
e 5)
4.2
39
2X4
Slip
Fit
3.6
Cus
tom
er In
terfa
ce
30°
7
MO
UN
TIN
G S
IDE
+X -X
-Y+Y
Min
i58-
E C
able
Exi
t(A
ltern
ate)
58
30
3.6
5.3
17.3
R2
SID
E VI
EW
Sens
ing
Ref
eren
ce
Fram
e O
rigin
Mou
ntin
gAd
apte
r Pl
ate
Tool
Ada
pter
Pla
te
-Z+Z
19.6
85±0
.025
29.5
28±0
.025
17.0
48±0
.025
18°
36°
(See
Not
e 3)
Cus
tom
er In
terfa
cePa
irs E
qual
ly S
pace
d6X
Tap
M5X
0.8
6.5
Cus
tom
er In
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ce2X
4
Slip
Fit
3.6
39
TOO
L SI
DE
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-Y+Y
Sens
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rigin
ISO
MET
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TER
NAT
E C
ABLE
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TM
INI5
8-E
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RN
ATE
CAB
LE E
XIT
MIN
I58-
ERA
Not
es: M
ater
ial:
Hard
ened
Sta
inle
ss S
teel
and
Alu
min
um.
1.W
ARN
ING
: DO
NO
T LO
OSE
N O
R RE
MO
VE IN
TERF
AC
E PL
ATE
S 2.
OR
CA
BLE
DUE
TO P
OTE
NTIA
L DA
MA
GE.
DO N
OT E
XCEE
D IN
TERF
AC
E DE
PTH.
MA
Y C
AUS
E DA
MA
GE.
3.St
and
ard
con
nect
or (n
ot sh
own)
has
17m
m d
iam
eter
and
is 6
7.5m
m lo
ng.
4. 5.
D
o no
t allo
w it
ems p
assin
g th
roug
h ce
nter
hol
e to
touc
h bo
th th
e M
ount
ing
and
Too
l Ad
apte
r Pla
tes o
r acc
urac
y w
ill be
com
prom
ised
.
Rev.
Des
crip
tion
Initi
ator
Dat
e
07EC
O 1
7630
; Dow
el d
ims c
hang
ed fr
om
limit
4.05
9/4.
034
to
4. D
owel
c
hang
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om 3
.7
to 3
.6D
S1/
22/2
019
B3:
21
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
R. C
ham
bers
2/4
/11
P. F
usco
2/7
/11
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-13
8310
1119
-107
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Min
i58
Tran
sduc
er
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com94
5.10.12 Mini58 IP60 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
82
17.
048±
0.02
5
29.
528±
0.02
5 1
9.68
5±0.
025
18°
36°
Typ
.
6X T
ap M
5X0.
8 6
.5P
airs
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce
B.C
.39
2X4
Slip
Fit
6.0
Cus
tom
er In
terfa
ce
TOO
L S
IDE
+X -X
-Y+Y
Sen
sing
Ref
eren
ceFr
ame
Orig
in
58
36.
2 6
.4
4.8
SID
E V
IEW
-Z+Z
Tool
Ada
pter
Pla
te
Mou
ntin
gA
dapt
erP
late
IP60
Dus
t Wra
p
Sen
sing
Ref
eren
ceFr
ame
Orig
in
19.
919±
0.02
5
31.
826±
0.02
5
23±
0.02
5
36.
750±
0.02
5
18°
36°
Typ
.
6X T
ap M
5X0.
8 6
.5P
airs
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce
B.C
.39
34.
500±
0.02
5 5
5.12
5±0.
025
6X
5.5
Thr
uE
qual
ly S
pace
dFo
r M5
SH
CS
Cus
tom
er In
terfa
ceO
ptio
nal M
ount
ing
Sid
e P
atte
rn
B.C
.73
.5
4X4
Slip
Fit
6.0
Cus
tom
er In
terfa
ce
30°
MO
UN
TIN
G S
IDE
+X -X
-Y+Y
ISO
ME
TRIC
VIE
WN
otes
: Mat
eria
l: M
ount
ing
and
Too
l Ad
apte
r mad
e of
Alu
min
um,
1.Tr
ansd
ucer
mad
e of
har
den
ed S
tain
less
Ste
el.
WA
RNIN
G: D
O N
OT L
OO
SEN
OR
REM
OVE
INTE
RFA
CE
PLA
TES
2.O
R C
ABL
E FI
TTIN
G D
UE TO
PO
TEN
TIAL
DAM
AG
E.St
and
ard
con
nect
or (n
ot sh
own)
has
17m
m d
iam
eter
and
3.
is 67
.5m
m lo
ng.
Rev.
Des
crip
tion
Initi
ator
Dat
e
03M
odify
Mou
ntin
g Si
de
tap
dep
th to
be
6.5m
mJW
12/1
3/20
12
B1:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
J. W
alse
r 10/
15/2
012
P. F
usco
10/
15/2
012
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-14
3712
1009
-103
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Rad
ial E
xit M
ini5
8 Tr
ansd
ucer
, IP6
0
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com95
5.10.13 Mini58 IP65/IP68 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
19.
944±
0.02
5
34.
500±
0.02
5
23.
022±
0.02
5
36°
9
6X T
ap M
5X0.
8 6
.5Pa
irs E
qual
ly S
pace
dC
usto
mer
Inte
rface
39
2X S
lip F
it4
6C
usto
mer
Inte
rface
9
+X
+Y
-X
-Y
MO
UN
TIN
G S
IDE
R1
37.
6
1.3
65
.4
Mou
ntin
g Ad
apte
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ate
+Z-Z
Sens
ing
Fram
e R
efer
ence
Orig
in
SID
E VI
EW
Tool
Ada
pter
Pla
te
29.
528±
0.02
5 1
9.68
5±0.
025
36°
1
8°
6X T
ap M
5X0.
8 6
.9Pa
irs E
qual
ly S
pace
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usto
mer
Inte
rface
17.
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5
39
2X S
lip F
it4
6C
usto
mer
Inte
rface
TOO
L SI
DE
Sens
ing
Ref
eren
ceFr
ame
Orig
in
+X -X
-Y+Y
ALTE
RN
ATE
CAB
LE E
XIT
MIN
I58-
E IP
65N
otes
:M
ater
ial:
Stai
nles
s St
eel
1.To
ol a
nd M
ount
ing
Adap
ters
hav
e M
5 ta
pped
hol
es a
nd 4
mm
dow
el p
in h
oles
for
2.in
terfa
cing
.W
AR
NIN
G: D
O N
OT
LOO
SEN
OR
REM
OVE
INTE
RFA
CE
PLA
TES
DU
E TO
3.
POTE
NTI
AL
DA
MA
GE.
Stan
dard
con
nect
or (n
ot s
how
n) h
as 1
7mm
dia
met
er &
is 6
7.5m
m lo
ng.
4.C
able
is IP
65 ra
ted
only
at t
rans
duce
r end
.5.
Rev.
Des
crip
tion
Initi
ator
Dat
e
03EC
O 1
7630
; Dow
el d
ims c
hang
ed fr
om lim
it 4
.059
/4.0
34 to
4.
DS
1/22
/201
9
B1:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
A Po
ngor
9/3
0/13
P Fu
sco
9/30
/13
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-14
5413
0815
-103
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Min
i58
IP65
/ IP
68 T
rand
ucer
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com96
5.11 Mini85Specifications(IncludesIP60Versions)5.11.1 Mini85 Physical Properties
Table 4.53—Mini85 Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±2800 lbf ±13000 NFz ±6100 lbf ±27000 NTxy ±4400 inf-lb ±500 NmTz ±5400 inf-lb ±610 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.4x105 lb/in 7.7x107 N/m Z-axisforce(Kz) 6.8x105 lb/in 1.2x108 N/m X-axis&Y-axistorque(Ktx,Kty) 7.2x105 lbf-in/rad 8.1x104 Nm/rad Z-axistorque(Ktz) 1.2x106 lbf-in/rad 1.3x105 Nm/rad Resonant Frequency Fx, Fy, Tz 2400 Hz 2400 HzFz, Tx, Ty 3100 Hz 3100 HzPhysicalSpecifications Weight1 1.4 lb 0.635 kgDiameter1 3.35 in 85.1 mmHeight1 1.17 in 29.8 mmNote:
1. Specificationsincludestandardinterfaceplates.
5.11.2 CalibrationSpecifications(excludesCTLcalibrations)Table 4.54—Mini85Calibrations(excludesCTLcalibrations)1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Mini85 US-105-185 105 210 185 185 1/52 7/260 5/168 1/48Mini85 US-210-370 210 420 370 370 5/128 3/64 5/84 1/24Mini85 US-420-740 420 840 740 740 5/64 3/32 5/42 1/12
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz (N)
Tx,Ty (Nm)
Tz (Nm)
Mini85 SI-475-20 475 950 20 20 9/112 3/28 5/1496 7/2992Mini85 SI-950-40 950 1900 40 40 9/56 3/14 5/748 7/1496Mini85 SI-1900-80 1900 3800 80 80 9/28 3/7 5/374 7/748
Sensing Ranges Resolution(DAQ,NetF/T)3
Notes:1. These system resolutions quoted are the effective resolution after dropping four counts of noise. The effective
resolutioncanbeimprovedwithfiltering.2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. DAQ resolutions are typical for a 16-bit data acquisition system.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com97
5.11.3 CTL CalibrationSpecificationsTable 4.55— Mini85 CTL Calibrations1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Mini85 US-105-185 105 210 185 185 1/26 7/130 5/84 1/24Mini85 US-210-370 210 420 370 370 5/64 3/32 5/42 1/12Mini85 US-420-740 420 840 740 740 5/32 3/16 5/21 1/6
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz (N)
Tx,Ty (Nm)
Tz (Nm)
Mini85 SI-475-20 475 950 20 20 9/56 3/14 5/748 7/1496Mini85 SI-950-40 950 1900 40 40 9/28 3/7 5/374 7/748Mini85 SI-1900-80 1900 3800 80 80 9/14 6/7 5/187 7/374
Sensing Ranges Resolution(Controller)Notes:
1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight counts of noise.Theeffectiveresolutioncanbeimprovedwithfiltering.
2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.
5.11.4 CTL Analog OutputTable 4.56— Mini85 Analog Output
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty,Tz (lbf-in)
Fx,Fy (lbf/V)
Fz (lbf/V)
Tx,Ty,Tz (lbf-in/V)
Mini85 US-105-185 ±105 ±210 ±185 10.5 21 18.5Mini85 US-210-370 ±210 ±420 ±370 21 42 37Mini85 US-420-740 ±420 ±840 ±740 42 84 74
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz (N)
Tx,Ty,Tz (Nm)
Fx,Fy (N/V)
Fz (N/V)
Tx,Ty,Tz (Nm/V)
Mini85 SI-475-20 ±475 ±950 ±20 47.5 95 2Mini85 SI-950-40 ±950 ±1900 ±40 95 190 4Mini85 SI-1900-80 ±1900 ±3800 ±80 190 380 8
Analog Output Range Analog±10VSensitivity1
Note:1. ±5V Sensitivity values are double the listed ±10V Sensitivity values.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com98
5.11.5 CTLCountsValueTable 4.57—CountsValue
Sensor Calibration Fx,Fy,Fz (/lbf)
Tx,Ty,Tz (/lbf-in)
Fx,Fy,Fz (/N)
Tx,Ty,Tz (/Nm)
Mini85 US-105-185/SI-475-20 1040 1344 448 11968Mini85 US-210-370/SI-950-40 512 672 224 5984Mini85 US-420-740/SI-1900-80 256 336 112 2992Mini85 Tool Transform Factor See Tool Transform Factor table
CountsValue–Standard(US) CountsValue–Metric(SI)
5.11.6 Tool Transform Factor
Table 4.58—Tool Transform FactorSensor Calibration US(English) SI(Metric)Mini85 US-105-185/SI-475-20 0.00774 in/lbf 0.374 mm/NMini85 US-210-370/SI-950-40 0.00762 in/lbf 0.374 mm/NMini85 US-420-740/SI-1900-80 0.00762 in/lbf 0.374 mm/N
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com99
5.11.7 Mini85(USCalibrationComplexLoading)(IncludesIP60)
HelpMini85
US-105-185 US-210-370 US-420-740
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com100
5.11.8 Mini85(SICalibrationComplexLoading)(IncludesIP60)
HelpMini85
SI-475-20 SI-950-40 SI-1900-80
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com101
5.11.9 Mini85-E Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
13.
860±
0.02
5
37±
0.02
5
71.
306±
0.02
5
6X T
ap M
5X0.
8 9
.0P
airs
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce(S
ee N
ote
3) B.C
.74
20°
Typ
.
10°
MO
UN
TIN
G S
IDE
-X
-Y+Y
+X
-Z
2X5
Slip
Fit
9.0
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
29.
8
85
10.
3
11.
5
7.5
Cab
leE
xit
SID
E V
IEW
+Z
Sen
sing
Ref
eren
ceFr
ame
Orig
in
Tool
Ada
pter
Pla
te
Mou
ntin
gA
dapt
erP
late
23.
383±
0.02
5
27±
0.02
5
40.
500±
0.02
5
40°
40°
Typ
.
6X T
ap M
5X0.
8 6
.5P
airs
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
B.C
.54
7
0°
TOO
L S
IDE
+X -X
-Y+Y
2X5
Slip
Fit
6.5
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
Sen
sing
Ref
eren
ceFr
ame
Orig
in
ISO
ME
TRIC
VIE
W
Not
es:
1. M
ater
ial:
Mou
ntin
g an
d To
ol A
dapt
er m
ade
of a
lum
inum
,
Tra
nsdu
cer m
ade
of h
arde
ned
stai
nles
s st
eel.
2. W
AR
NIN
G: D
O N
OT
LOO
SEN
OR
REM
OVE
INTE
RFA
CE
P
LATE
S O
R C
AB
LE D
UE
TO P
OTE
NTI
AL
DA
MA
GE
3. D
O N
OT
EXC
EED
INTE
RFA
CE
DEP
TH, M
AY
CA
USE
DA
MA
GE.
4. C
onne
ctor
(not
sho
wn)
has
17m
m d
iam
eter
and
is 6
7.5m
m lo
ng.
5. F
or b
est a
ccur
acy,
tran
sduc
er m
ust b
e m
ount
ed to
sur
face
rigi
d
eno
ugh
to s
uppo
rt lo
ads
with
out d
efle
ctio
n.
Rev.
Des
crip
tion
Initi
ator
Dat
e
02In
itial
Dra
win
gJW
9/5/
2011
B1:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
J. W
alse
r 08/
04/2
011
R. C
ham
bers
8/1
6/11
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-13
94-
02
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Min
i85
Tran
sduc
er
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com102
5.11.10 Mini85 IP60 Transducer with 20mm Through-HoleDrawing
3rd
AN
GLE
PRO
JEC
TION
200+0.1
27 T
hru
(See
Not
e 4)
37±0
.025
71.3
06±0
.025
13.8
60±0
.025
6X T
ap M
5X0.
8 9
.0P
airs
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
B.C
.74
10°
20° T
yp.
-Z
TOO
L S
IDE
MO
UN
TIN
G S
IDE
-X+X
+Y-Y
2X5
Slip
Fit
9.0
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
10.3
11.5
85
29.8
7.5
Cab
leE
xit
+Z
Mou
ntin
gA
dapt
erP
late
Sen
sing
Ref
eren
ceFr
ame
Orig
in
Tool
Ada
pter
Pla
te
27±0
.025
40.5
00±0
.025
23.3
83±0
.025
6X T
ap M
5X0.
8 6
.5P
airs
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
B.C
.54
70
°
40°
40° T
yp.
SID
E V
IEW
-Y+Y
+X
-X
Sen
sing
Ref
eren
ceFr
ame
Orig
in
2X5
Slip
Fit
6.5
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
ISO
ME
TRIC
VIE
W
Not
es:
1. M
ater
ial:
Mou
ntin
g an
d To
ol A
dapt
er m
ade
of a
lum
inum
,
Tra
nsdu
cer m
ade
of h
arde
ned
stai
nles
s st
eel.
2. W
AR
NIN
G: D
O N
OT
LOO
SEN
OR
REM
OVE
INTE
RFA
CE
P
LATE
S O
R C
AB
LE D
UE
TO P
OTE
NTI
AL
DA
MA
GE
3. D
O N
OT
EXC
EED
INTE
RFA
CE
DEP
TH, M
AY
CA
USE
DA
MA
GE
4. D
o no
t allo
w it
ems
pass
ing
thro
ugh
cent
er h
ole
to to
uch
both
the
M
ount
ing
and
Tool
Ada
pter
Pla
tes
or a
ccur
acy
will
be
com
prom
ised
.5.
Con
nect
or (n
ot s
how
n) h
as 1
7mm
dia
met
er a
nd is
67.
5mm
long
.6.
For
bes
t acc
urac
y, tr
ansd
ucer
mus
t be
mou
nted
to s
urfa
ce ri
gid
e
noug
h to
sup
port
load
s w
ithou
t def
lect
ion.
Rev.
Des
crip
tion
Initi
ator
Dat
e
02M
odify
dra
win
g fo
rmat
to m
eet c
urre
nt st
and
ard
JW8/
30/2
011
B1:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
R C
ham
bers
2/1
5/08
P. F
usco
5/2
2/08
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-13
2307
1026
-102
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Min
i85
Tran
sduc
er w
ith 2
0mm
Thr
u H
ole
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com103
5.12 GammaSpecifications(IncludesIP60/IP65/IP68Versions)5.12.1 Gamma Physical Properties
Table 4.59—Gamma Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±280 lbf ±1200 NFz ±930 lbf ±4100 NTxy ±700 inf-lb ±79 NmTz ±730 inf-lb ±82 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 5.2x104 lb/in 9.1x106 N/m Z-axisforce(Kz) 1.0x105 lb/in 1.8x107 N/m X-axis&Y-axistorque(Ktx,Kty) 9.3x104 lbf-in/rad 1.1x104 Nm/rad Z-axistorque(Ktz) 1.4x105 lbf-in/rad 1.6x104 Nm/rad Resonant Frequency Fx, Fy, Tz 1400 Hz 1400 HzFz, Tx, Ty 2000 Hz 2000 HzPhysicalSpecifications Weight1 0.562 lb 0.255 kgDiameter1 2.97 in 75.4 mmHeight1 1.31 in 33.3 mmNote:
1. Specificationsincludestandardinterfaceplates.
5.12.2 Gamma IP60 Physical PropertiesTable 4.60—Gamma IP60 Physical Properties
Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±280 lbf ±1200 NFz ±930 lbf ±4100 NTxy ±700 inf-lb ±79 NmTz ±730 inf-lb ±82 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 5.2x104 lb/in 9.1x106 N/m Z-axisforce(Kz) 1.0x105 lb/in 1.8x107 N/m X-axis&Y-axistorque(Ktx,Kty) 9.3x104 lbf-in/rad 1.1x104 Nm/rad Z-axistorque(Ktz) 1.4x105 lbf-in/rad 1.6x104 Nm/rad Resonant Frequency Fx, Fy, Tz 1200 Hz 1200 HzFz, Tx, Ty 1200 Hz 1200 HzPhysicalSpecifications Weight1 1.03 lb 0.467 kgDiameter1 3.9 in 99.1 mmHeight1 1.56 in 39.6 mmNote:
1. Specificationsincludestandardinterfaceplates.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com104
5.12.3 Gamma IP65 Physical PropertiesTable 4.61—Gamma IP65 Physical Properties
Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±280 lbf ±1200 NFz ±930 lbf ±4100 NTxy ±700 inf-lb ±79 NmTz ±730 inf-lb ±82 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 5.2x104 lb/in 9.1x106 N/m Z-axisforce(Kz) 1.0x105 lb/in 1.8x107 N/m X-axis&Y-axistorque(Ktx,Kty) 9.3x104 lbf-in/rad 1.1x104 Nm/rad Z-axistorque(Ktz) 1.4x105 lbf-in/rad 1.6x104 Nm/rad Resonant Frequency Fx, Fy, Tz 1000 Hz 1000 HzFz, Tx, Ty 970 Hz 970 HzPhysicalSpecifications Weight1 2.4 lb 1.09 kgDiameter1 4.37 in 111 mmHeight1 2.06 in 52.3 mmNote:
1. Specificationsincludestandardinterfaceplates.
5.12.4 Gamma IP68 Physical PropertiesTable 4.62—Gamma IP68 Physical Properties
Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±280 lbf ±1200 NFz ±930 lbf ±4100 NTxy ±700 inf-lb ±79 NmTz ±730 inf-lb ±82 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 5.2x104 lb/in 9.1x106 N/m Z-axisforce(Kz) 1.0x105 lb/in 1.8x107 N/m X-axis&Y-axistorque(Ktx,Kty) 9.3x104 lbf-in/rad 1.1x104 Nm/rad Z-axistorque(Ktz) 1.4x105 lbf-in/rad 1.6x104 Nm/rad Resonant Frequency Fx, Fy, Tz 1250 Hz 1250 HzFz, Tx, Ty 940 Hz 940 HzPhysicalSpecifications Weight1 4.37 lb 1.98 kgDiameter1 4.37 in 111 mmHeight1 2.06 in 52.3 mmNote:
1. Specificationsincludestandardinterfaceplates.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com105
CAUTION: When submerged, IP68 transducers exhibit a decrease in Fz range related to the submersion depth. This loss is the result of pressure-induced preloading on the transducer. The preload can be masked by biasing the transducer at the depth prior to applying the load to be measured. The following estimates are for room temperature fresh water at sea level.
Submersion DepthIP68 Gamma US MetricFz preload at 4 m depth -42.9 lb -191 NFz preload at other depths -3.27 lb/ft × depthInFeet -47.4 N/m × depthInMeters
5.12.5 CalibrationSpecifications(excludesCTLcalibrations)Table 4.63—GammaCalibrations(excludesCTLcalibrations)1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Gamma US-7.5-25 7.5 25 25 25 1/640 1/320 1/320 1/320Gamma US-15-50 15 50 50 50 1/320 1/160 1/160 1/160Gamma US-30-100 30 100 100 100 1/160 1/80 1/80 1/80
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Gamma SI-32-2.5 32 100 2.5 2.5 1/160 1/80 1/2000 1/2000Gamma SI-65-5 65 200 5 5 1/80 1/40 10/13333 10/13333Gamma SI-130-10 130 400 10 10 1/40 1/20 1/800 1/800
Sensing Ranges Resolution(DAQ,NetF/T)4
Notes:1. These system resolutions quoted are the effective resolution after dropping four counts of noise. The effective
resolutioncanbeimprovedwithfiltering.2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. For IP68 version see caution on physical properties page.4. DAQ resolutions are typical for a 16-bit data acquisition system.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com106
5.12.6 CTL CalibrationSpecificationsTable 4.64— Gamma CTL Calibrations1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Gamma US-7.5-25 7.5 25 25 25 1/320 1/160 1/160 1/160Gamma US-15-50 15 50 50 50 1/160 1/80 1/80 1/80Gamma US-30-100 30 100 100 100 1/80 1/40 1/40 1/40
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Gamma SI-32-2.5 32 100 2.5 2.5 1/80 1/40 1/1000 1/1000Gamma SI-65-5 65 200 5 5 1/40 1/20 5/3333 5/3333Gamma SI-130-10 130 400 10 10 1/20 1/10 1/400 1/400
Sensing Ranges Resolution(Controller)Notes:
1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight counts of noise.Theeffectiveresolutioncanbeimprovedwithfiltering.
2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly. 3. For IP68 version see caution on physical properties page.
5.12.7 CTL Analog OutputTable 4.65— Gamma Analog Output
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz2 (lbf)
Tx,Ty,Tz (lbf-in)
Fx,Fy (lbf/V)
Fz2 (lbf/V)
Tx,Ty,Tz (lbf-in/V)
Gamma US-7.5-25 ±7.5 ±25 ±25 0.75 2.5 2.5Gamma US-15-50 ±15 ±50 ±50 1.5 5 5Gamma US-30-100 ±30 ±100 ±100 3 10 10
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz2 (N)
Tx,Ty,Tz (Nm)
Fx,Fy (N/V)
Fz2 (N/V)
Tx,Ty,Tz (Nm/V)
Gamma SI-32-2.5 ±32 ±100 ±2.5 3.2 10 0.25Gamma SI-65-5 ±65 ±200 ±5 6.5 20 0.5Gamma SI-130-10 ±130 ±400 ±10 13 40 1
Analog Output Range Analog±10VSensitivity1
Notes:1. ±5V Sensitivity values are double the listed ±10V Sensitivity values.2. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com107
5.12.8 CTLCountsValueTable 4.66—CountsValue
Sensor Calibration Fx,Fy,Fz (/lbf)
Tx,Ty,Tz (/lbf-in)
Fx,Fy,Fz (/N)
Tx,Ty,Tz (/Nm)
Gamma US-7.5–25/SI-32–2.5 2560 2560 640 8000Gamma US-15–50/SI-65–5 1280 1280 320 5333.33Gamma US-30–100/SI-130–10 640 640 160 3200Gamma Tool Transform Factor See Tool Transform Factor table
CountsValue–Standard(US) CountsValue–Metric(SI)
5.12.9 Tool Transform FactorTable 4.67—Tool Transform Factor
Sensor Calibration US(English) SI(Metric)Gamma US-7.5–25/SI-32–2.5 0.01 in/lbf 0.8 mm/NGamma US-15–50/SI-65–5 0.01 in/lbf 0.6 mm/NGamma US-30–100/SI-130–10 0.01 in/lbf 0.y h5 mm/N
.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com108
5.12.10 Gamma(USCalibrationComplexLoading) (IncludesIP60/IP65/IP68)1
HelpGamma
US-7.5-25 US-15-50 US-30-100
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com109
5.12.11 Gamma(SICalibrationComplexLoading) (IncludesIP60/IP65/IP68)1
HelpGamma
SI-32-2.5 SI-65-5 SI-130-10
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com110
5.12.12 GammaDAQ/NetTransducer Drawing
25.5
DA
Q S
yste
m
54.8
DA
Q S
yste
m
30°
32.8
Net
Sys
tem
58.3
Net
Sys
tem
MO
UN
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IDE
Cus
tom
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achi
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mou
ntin
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pla
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ame
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IEW
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(4) T
ap M
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.2.
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tern
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th
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dam
age
the
trans
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will
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d th
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3. D
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4. T
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nted
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eno
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to
sup
port
load
s w
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t def
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ion
for b
est a
ccur
acy.
Rev.
Des
crip
tion
Initi
ator
Dat
e
02C
ombi
natio
n D
raw
ing
for D
AQ
and
NET
CC
S1/
20/2
010
B1:
11
1
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N
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TES:
UN
LESS
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D
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WIN
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DRA
WN
IN S
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ENSI
ON
S A
RE IN
MILL
IMET
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3rd
AN
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PRO
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WN
BY:
CHE
CKE
D B
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WEI
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LBS
:
ASS
EMBL
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F:
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wan
son
11/0
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R. C
ham
bers
11/
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8TITLE SC
ALE
SIZE
DRA
WIN
G N
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R
PRO
DUC
T RE
LEA
SE #
SHEE
T
OF
9230
-05-
1329
B1:
11
1
------
-----
REVI
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02
PRO
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R W
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EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Gam
ma
Tran
sduc
er DA
TE:
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com111
5.12.13 9105-T-Gamma Transducer without Mounting Adapter Drawing
21
29.5
3.8
Cus
tom
er In
terfa
ce
(8) T
ap M
3-0.
56
Equa
lly S
pace
d
61 H
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T 1.
3C
ham
fer .
63 x
45
Cus
tom
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ee N
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4)
3 D
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Pin
34±0
.025
22.5
°
68 B
.C.
Righ
t-Ang
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onne
ctor
+X
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-X
MO
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6074
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6 Sl
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16 H
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.6C
ham
fer 1
.0 x
45
Cus
tom
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terfa
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25±0
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45°
50 B
.C.
(4) T
ap M
6 x
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5.6
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rface
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2. D
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tern
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Thi
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DO
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AY
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AG
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For
bes
t acc
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mus
t be
mou
nted
to a
surfa
ce
rigi
d en
ough
to su
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t loa
ds w
ithou
t def
lect
ion.
Rev.
Des
crip
tion
Initi
ator
Dat
e
08Ec
o 17
923;
Upd
ated
M3
hole
dep
th.
JPL
5/10
/201
9
B1:
11
1
REVI
SIO
N
NO
TES:
UN
LESS
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SPEC
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D
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WIN
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WN
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ALL
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ON
S A
RE IN
MILL
IMET
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BY:
CHE
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WEI
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LBS
:
ASS
EMBL
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F:
B. D
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TITLE SC
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SIZE
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WIN
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R
PRO
DUC
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LEA
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SHEE
T
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9230
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1103
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11
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PRO
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R W
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RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Gam
ma
Tran
sduc
er w
ithou
t Mou
ntin
g A
dapt
er
DA
TE:
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com112
5.12.14 Gamma Mounting Adapter Plate Drawing
3rd
AN
GLE
PRO
JEC
TION
M3
x 8
SFH
CS
,G
rade
10.
9
Gam
ma
Mou
ntin
gA
dapt
er P
late
M3
x 10
,D
owel
Pin
Gam
ma
Tran
sduc
er
Slip
Fit
for
3 D
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Pin
8X C
ount
ersi
nk h
oles
for
M3
SFH
CS
C L
1.3
75.4
61 R
efB
oss
4.7
Tran
sduc
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ithM
ount
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Ada
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ISO
ME
TRIC
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WS
CA
LE 2
:3
Not
es: Mat
eria
l: H
igh-
Tens
ile A
lum
inum
1.M
ount
ing
Ada
pter
: Cus
tom
er to
mac
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pla
te a
s re
quire
d fo
r mou
ntin
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ith 8
X M
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FHC
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x 10
Dow
el P
in,
DIN
632
5.
61 B
oss
and
3 D
owel
Pin
use
d fo
r loc
atin
g to
G
amm
a Tr
ansd
ucer
.
Rev.
Des
crip
tion
Initi
ator
Dat
e
05EC
O 9
076:
Rem
oved
fini
sh sp
ecLT
F2/
2/20
12
B1:
21
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
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WIN
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DIM
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ON
S A
RE IN
M
ILLIM
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WN
BY:
CHE
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D B
Y:
C. F
leso
ck, 3
/16/
2009
P. F
usco
, 3/1
7/20
09
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-10
5705
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
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E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Gam
ma
Mou
ntin
g Ad
apte
r
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com113
5.12.15 Gamma IP60 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
66±0
.025
Cus
tom
er In
terfa
ceE
qual
ly S
pace
dFo
r M6
SH
CS
(4)
6.8
Thr
u
73.4
50.2
DA
Q S
yste
m
120°
B.C
. 88
44±0
.025
16°
38.1
05±0
.025
61°
58.6
Net
Sys
tem
+X
-Y
-X
+Y
MO
UN
TIN
G S
IDE
Con
nect
or F
or C
able
V
arie
s D
epen
ding
on
Sen
sor S
elec
ted
2X
5 S
lip F
it Th
ruC
usto
mer
Inte
rface
4.7
39.6
6
38.5
DA
Q S
yste
m
32.6
6N
et S
yste
m
Sen
sing
Ref
eren
ceFr
ame
Orig
in
Neo
pren
e R
ubbe
rD
ust J
acke
t
-Z+Z
Mou
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gA
dapt
er P
late
SID
E V
IEW
Tool
Ada
pter
Pla
te
99
74
B.C
. 50
25±0
.025
45°
Cus
tom
er In
terfa
ceE
qual
ly S
pace
d(4
) Tap
M6X
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7
+X
-X
-Y+Y
Sen
sing
Ref
eren
ceFr
ame
Orig
inTO
OL
SID
E
16
H7
3.5
1.0x
45 C
ham
fer
Cus
tom
er In
terfa
ce
6
Slip
Fit
8.5
Cus
tom
er In
terfa
ce
ISO
ME
TRIC
VIE
WN
otes
: Mat
eria
l: S
tain
less
Ste
el a
nd A
lum
inum
1.S
ensi
ng R
efer
ence
Fra
me
Orig
in a
t sur
face
cen
ter o
f Too
l Ada
pter
.2.
Do
not d
isas
sem
ble
trans
duce
r. D
oing
so
coul
d da
mag
e tra
nsuc
er3.
and
will
voi
d w
arra
nty.
For b
est a
ccur
acy,
tran
sduc
er m
ust b
e m
ount
ed to
a s
urfa
ce ri
gid
4.en
ough
to s
uppo
rt lo
ads
with
out d
efle
ctio
n.
Rev.
Des
crip
tion
Initi
ator
Dat
e
03A
dd
ed N
et d
imen
sions
RKC
5/13
/200
9
04Ec
o 15
243;
Cor
rect
ed d
im 3
9.66
, 32.
66, 6
mm
and
5m
m d
owel
s, up
dat
ed n
otes
RTD
1/27
/201
7
B1:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
R. C
ham
bers
6/2
5/08
P.Fu
sco
6/26
/08
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-13
3508
0602
-104
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP60
Gam
ma
Tran
sduc
er
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com114
5.12.16 Gamma IP65 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
70.7
Net
Sys
tem
B.C
.63
31.0
21±0
.025
31.5
00±0
.025
B.C
.98
Sid
e P
atte
rnO
ptio
nal M
ouni
tng
Cus
tom
er In
terfa
ceE
qual
ly S
pace
dFo
r M6
SH
CS
(4)
6.6
Thr
u
82.2
Mux
, DA
Q &
TW
LS
yste
m
45°
100°
Cus
tom
er In
terfa
ceE
qual
ly S
pace
d(4
) Tap
M6X
1
7
45°
(2)
4 S
lip F
it 6
Cus
tom
er In
terfa
ce
36.
970±
0.02
5
63.3
Mux
, DA
Q &
TW
LS
yste
m75
.2N
et S
yste
m
MO
UN
TIN
G S
IDE+X -X
+Y-Y
Con
nect
or fo
r Cab
leV
arie
s D
epen
ding
on
Sen
sor S
elec
ted
44.2
78.7
1.4
6.5
46.7
52.2
SID
E VI
EW
+Z
Sen
sing
Ref
eren
ceFr
ame
Orig
in 85.6
B.C
.50
Cus
tom
er In
terfa
ceE
qual
ly S
pace
d(4
) Tap
M6X
1 8
.5
Cus
tom
er In
terfa
ce 6
Slip
Fit
6
25±0
.025
16 H
76
Cha
mfe
r 0.6
x 4
5C
usto
mer
Inte
rface
45°
111
TOO
L SI
DE
-Z+Y
-Y
-X
Sen
sing
Ref
eren
ceFr
ame
Orig
in
ISO
MET
RIC
VIE
W
Not
es:
1. M
ater
ial:
Alum
inum
and
Sta
inle
ss S
teel
2. S
ensi
ng R
efer
ence
Fra
me
Orig
in a
t
sur
face
cen
ter o
f Too
l Ada
pter
.3.
Do
not d
isas
sem
ble
trans
duce
r. D
oing
so
c
ould
dam
age
trans
duce
r and
will
void
w
arra
nty.
4. F
or b
est a
ccur
acy,
tran
sduc
er m
ust b
e
mou
nted
to s
urfa
ces
rigid
eno
ugh
to s
uppo
rt
load
s w
ithou
t def
lect
ion.
5.
Cab
le m
ust b
e co
nnec
ted
to T
rans
duce
r to
m
aint
ain
prop
er s
eal.
6. C
able
is IP
65 ra
ted
only
at T
rans
duce
r End
.
+X
Rev.
Des
crip
tion
Initi
ator
Dat
e
03A
dd
ed N
et D
imen
sions
.A
LH8/
8/20
08
04Ec
o 16
104;
Ad
ded
TW
L D
imen
sions
RTD
9/18
/201
7
B1:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
P. F
usco
12/
15/0
6
D. S
wan
son
12/1
8/06
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-13
0706
0612
-104
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP65
Gam
ma
Tran
sduc
er
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com115
5.12.17 ECAT Gamma IP65 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
68.
3
11
1.0
31.
021±
0.02
5
36.
970±
0.02
5
31.
500±
0.02
5
2X
4 S
lip F
it 6
Cus
tom
er In
terfa
ce
4X T
ap M
6X1
7E
qual
ly S
pace
dC
usto
mer
Inte
rface
4X
6.6
Thru
For M
6 S
HC
SE
qual
ly S
pace
d C
usto
mer
Inte
rface
Opt
iona
l Mou
ntin
g S
ide
Pat
tern
75.
2
45°
B.C
.98
.0
100
°
135
°
B.C
.63
.0
+X
-X
-Y+Y
+Y
-X
-Y
+X
DC
Pow
er
Eth
erC
AT
(Opt
iona
l PoE
)
52.
2
44.
3
5.5
78
.7
7.9
1
.4
46.
7
Mou
ntin
g A
dapt
erP
late
Tool
Ada
pter
Pla
te
Rin
g Te
rmin
al(F
or O
ptio
nal
Ear
th G
roun
dC
onne
ctio
n)
Eth
erC
AT
LED
Indi
cato
rs
+Z-Z
Sen
sing
Ref
eren
ceFr
ame
Orig
in
4X T
ap M
6X1
8.5
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce
6 S
lip F
it 6
Cus
tom
er In
terfa
ce
25.
000±
0.02
5
16 H
76
Cha
mfe
r 0.6
X 4
5C
usto
mer
Inte
rface
85
.6
B.C
.50
.0
45°
Pre
ssur
e E
quili
zatio
n V
ent,
IP65
Sen
sing
Ref
eren
ceFr
ame
Orig
in
Not
es:
Mat
eria
l: A
lum
inum
and
Sta
inle
ss S
teel
1.S
ensi
ng R
efer
ence
Fra
me
Orig
in a
t sur
face
cen
ter o
f Too
l Ada
pter
.2.
Do
not d
isas
sem
ble
trans
duce
r. D
oing
so
coul
d da
mag
e tra
nsdu
cer a
nd w
ill v
oid
war
rant
y.3.
For b
est a
ccur
acy,
tran
sduc
er m
ust b
e m
ount
ed to
a s
urfa
ce ri
gid
enou
gh to
sup
port
load
s4.
with
out d
efle
ctio
n.C
able
s m
ust b
e co
nnec
ted
to tr
ansd
ucer
to m
anta
in p
rope
r sea
l.5.
Cab
les
are
IP65
rate
d on
ly a
t tra
nsdu
cer e
nd.
6.
MO
UN
TIN
G S
IDE
TOO
L S
IDE
SID
E V
IEW
Rev.
Des
crip
tion
Initi
ator
Dat
e
01In
itial
Rel
ease
RTD
11/2
3/20
16
B1:
21
2RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
R.D
upre
e 11
/21/
16
A.G
lusi
ec 1
1/22
/16
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-15
0816
0919
-101
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP65
Gam
ma
Tran
sduc
er w
ith E
ther
CAT
Ele
ctro
nics
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com116
3rd
AN
GLE
PRO
JEC
TION
DC
Pow
er C
onne
ctor
3-P
in M
ale
M8
D-C
oded
Eth
erC
AT
Con
nect
or4-
Pin
Fem
ale
M12
D-C
oded
ISO
ME
TRIC
VIE
W
Pin
No.
Sign
al1
V+
3G
ND
4N
/C
Pin
No.
Sign
al1
TX+
2R
X+
3TX
-4
RX
-
She
llC
onne
ctor
Blo
ck
Hou
sing
Rev.
Des
crip
tion
Initi
ator
Dat
e
-Se
e Sh
eet1
--
B1:
22
2RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
R.D
upre
e 11
/21/
16
A.G
lusi
ec 1
1/22
/16
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-15
0816
0919
-101
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP65
Gam
ma
Tran
sduc
er w
ith E
ther
CAT
Ele
ctro
nics
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com117
5.12.18 Gamma IP68 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
69.8
Net
Sys
tem
4X
6.6
Thr
uFo
r M6
SH
CS
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ceO
ptio
nal M
ount
ing
Sid
e P
atte
rn
B.C
.98
62.7
Mux
, DA
Q &
TW
LS
yste
m
82.2
Mux
, DA
Q &
TW
LS
yste
m
45°
B.C
.63
4X T
ap M
6X1
7E
qual
ly S
pace
dC
usto
mer
Inte
rface
31.
021±
0.02
5
36.
970±
0.02
5 3
1.50
0±0.
025
100
°
45°
75.2
Net
Sys
tem
MO
UN
TIN
G S
IDE
Con
nect
or fo
r Cab
le V
arie
sD
epen
ding
on
Sen
sor S
elec
ted
2X
4 S
lip F
it 6
Cus
tom
er In
terfa
ce
-Y+Y
+X
-X
46.
7 5
2.2
78
.7
1.4
6.5
4
4.2
SID
E VI
EW
+Z-Z
Sen
sing
Ref
eren
ceFr
ame
Orig
in 2
5±0.
025
111
B.C
.50
85
.6
16 H
76
Cha
mfe
r 0.6
x 4
5C
usto
mer
Inte
rface
45°
4X T
ap M
6X1
8.5
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce
TOO
L SI
DE
Sen
sing
Ref
eren
ceFr
ame
Orig
in
6 S
lip F
it 6
Cus
tom
er In
terfa
ce
-X
-Y+Y
+X
ISO
ME
TRIC
VIE
W
Not
es:
1. M
ater
ial:
Stai
nles
s St
eel
2. S
ensi
ng R
efer
ence
Fra
me
Orig
in a
t
sur
face
cen
ter o
f Too
l Ada
pter
.3.
Do
not d
isas
sem
ble
trans
duce
r. D
oing
so
c
ould
dam
age
trans
duce
r and
will
void
w
arra
nty.
4. F
or b
est a
ccur
acy,
tran
sduc
er m
ust b
e
mou
nted
to s
urfa
ces
rigid
eno
ugh
to s
uppo
rt
load
s w
ithou
t def
lect
ion.
5.
Cab
le m
ust b
e co
nnec
ted
to T
rans
duce
r to
m
aint
ain
prop
er s
eal.
6. C
able
is o
nly
IP68
rate
d on
ly a
t Tra
nsdu
cer
E
nd.
Tran
sduc
er is
IP68
rate
d in
fres
hwat
er
env
ironm
ent a
t a d
epth
of u
p to
4 m
eter
s.
Rev.
Des
crip
tion
Initi
ator
Dat
e
01In
itial
Dra
win
gJW
9/29
/201
1
02Ec
o 16
104;
Ad
ded
TW
L d
imen
sions
RTD
9/18
/201
7
B1:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
J. W
alse
r 9/2
9/20
11
R. C
ham
bers
9/3
0/11
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-13
8610
1214
-302
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP68
Gam
ma
Tran
sduc
er
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com118
5.13 DeltaSpecifications(IncludesIP60/IP65/IP68Versions)5.13.1 Delta Physical Properties
Table 4.68—Delta Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±840 lbf ±3700 NFz ±2300 lbf ±10000 NTxy ±2500 inf-lb ±280 NmTz ±3600 inf-lb ±400 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 2.0x105 lb/in 3.6x107 N/m Z-axisforce(Kz) 3.4x105 lb/in 5.9x107 N/m X-axis&Y-axistorque(Ktx,Kty) 4.6x105 lbf-in/rad 5.2x104 Nm/rad Z-axistorque(Ktz) 8.1x105 lbf-in/rad 9.1x104 Nm/rad Resonant Frequency Fx, Fy, Tz 1500 Hz 1500 HzFz, Tx, Ty 1700 Hz 1700 HzPhysicalSpecifications Weight1 2.01 lb 0.913 kgDiameter1 3.72 in 94.5 mmHeight1 1.31 in 33.3 mmNote:
1. Specificationsincludestandardinterfaceplates.
5.13.2 Delta IP60 Physical PropertiesTable 4.69—Delta IP60 Physical Properties
Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±840 lbf ±3700 NFz ±2300 lbf ±10000 NTxy ±2500 inf-lb ±280 NmTz ±3600 inf-lb ±400 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 2.0x105 lb/in 3.6x107 N/m Z-axisforce(Kz) 3.4x105 lb/in 5.9x107 N/m X-axis&Y-axistorque(Ktx,Kty) 4.6x105 lbf-in/rad 5.2x104 Nm/rad Z-axistorque(Ktz) 8.1x105 lbf-in/rad 9.1x104 Nm/rad Resonant Frequency Fx, Fy, Tz 1100 Hz 1100 HzFz, Tx, Ty 1100 Hz 1100 HzPhysicalSpecifications Weight1 4 lb 1.81 kgDiameter1 4.6 in 117 mmHeight1 1.85 in 47.1 mmNote:
1. Specificationsincludestandardinterfaceplates.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com119
5.13.3 Delta IP65 Physical PropertiesTable 4.70—Delta IP65 Physical Properties
Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±840 lbf ±3700 NFz ±2300 lbf ±10000 NTxy ±2500 inf-lb ±280 NmTz ±3600 inf-lb ±400 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 2.0x105 lb/in 3.6x107 N/m Z-axisforce(Kz) 3.4x105 lb/in 5.9x107 N/m X-axis&Y-axistorque(Ktx,Kty) 4.6x105 lbf-in/rad 5.2x104 Nm/rad Z-axistorque(Ktz) 8.1x105 lbf-in/rad 9.1x104 Nm/rad Resonant Frequency Fx, Fy, Tz 880 Hz 880 HzFz, Tx, Ty 920 Hz 920 HzPhysicalSpecifications Weight1 3.91 lb 1.77 kgDiameter1 4.96 in 126 mmHeight1 2.06 in 52.2 mmNote:
1. Specificationsincludestandardinterfaceplates.
5.13.4 Delta IP68 Physical PropertiesTable 4.71—Delta IP68 Physical Properties
Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±840 lbf ±3700 NFz ±2300 lbf ±10000 NTxy ±2500 inf-lb ±280 NmTz ±3600 inf-lb ±400 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 2.0x105 lb/in 3.6x107 N/m Z-axisforce(Kz) 3.4x105 lb/in 5.9x107 N/m X-axis&Y-axistorque(Ktx,Kty) 4.6x105 lbf-in/rad 5.2x104 Nm/rad Z-axistorque(Ktz) 8.1x105 lbf-in/rad 9.1x104 Nm/rad Resonant Frequency Fx, Fy, Tz 950 Hz 950 HzFz, Tx, Ty 960 Hz 960 HzPhysicalSpecifications Weight1 5.8 lb 2.63 kgDiameter1 4 in 102 mmHeight1 2.06 in 52.2 mmNote:
1. Specificationsincludestandardinterfaceplates.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com120
CAUTION: When submerged, IP68 transducers exhibit a decrease in Fz range related to the submersion depth. This loss is the result of pressure-induced preloading on the transducer. The preload can be masked by biasing the transducer at the depth prior to applying the load to be measured. The following estimates are for room temperature fresh water at sea level.
Submersion DepthIP68 Delta US MetricFz preload at 10 m depth 161 lb 716 NFz preload at other depths -4.9 lb/ft × depthInFeet -72 N/m × depthInMeters
5.13.5 CalibrationSpecifications(excludesCTLcalibrations)Table 4.72—DeltaCalibrations(excludesCTLcalibrations)1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Delta US-50-150 50 150 150 150 1/128 1/64 3/128 1/64Delta US-75-300 75 225 300 300 1/64 1/32 3/64 1/32Delta US-150-600 150 450 600 600 1/32 1/16 3/32 1/16
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Delta SI-165-15 165 495 15 15 1/32 1/16 1/528 1/528Delta SI-330-30 330 990 30 30 1/16 1/8 5/1333 5/1333Delta SI-660-60 660 1980 60 60 1/8 1/4 10/1333 10/1333
Sensing Ranges Resolution(DAQ,NetF/T)4
Notes:1. These system resolutions quoted are the effective resolution after dropping four counts of noise. The effective
resolutioncanbeimprovedwithfiltering.2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. For IP68 version see caution on physical properties page.4. DAQ resolutions are typical for a 16-bit data acquisition system.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com121
5.13.6 CTL CalibrationSpecificationsTable 4.73— Delta CTL Calibrations1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Delta US-50-150 50 150 150 150 1/64 1/32 3/64 1/32Delta US-75-300 75 225 300 300 1/32 1/16 3/32 1/16Delta US-150-600 150 450 600 600 1/16 1/8 3/16 1/8
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Delta SI-165-15 165 495 15 15 1/16 1/8 1/264 1/264Delta SI-330-30 330 990 30 30 1/8 1/4 10/1333 10/1333Delta SI-660-60 660 1980 60 60 1/4 1/2 5/333 5/333
Sensing Ranges Resolution(Controller)Notes:
1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight counts of noise.Theeffectiveresolutioncanbeimprovedwithfiltering.
2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly. 3. For IP68 version see caution on physical properties page.
5.13.7 CTL Analog OutputTable 4.74— Delta Analog Output
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz2 (lbf)
Tx,Ty,Tz (lbf-in)
Fx,Fy (lbf/V)
Fz2 (lbf/V)
Tx,Ty,Tz (lbf-in/V)
Delta US-50-150 ±50 ±150 ±150 5 15 15Delta US-75-300 ±75 ±225 ±300 7.5 22.5 30Delta US-150-600 ±150 ±450 ±600 15 45 60
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz2 (N)
Tx,Ty,Tz (Nm)
Fx,Fy (N/V)
Fz2 (N/V)
Tx,Ty,Tz (Nm/V)
Delta SI-165-15 ±165 ±495 ±15 16.5 49.5 1.5Delta SI-330-30 ±330 ±990 ±30 33 99 3Delta SI-660-60 ±660 ±1980 ±60 66 198 6
Analog Output Range Analog±10VSensitivity1
Notes:1. ±5V Sensitivity values are double the listed ±10V Sensitivity values.2. For IP68 version see caution on physical properties page.
5.13.8 CTLCountsValueTable 4.75—CountsValue
Sensor Calibration Fx,Fy,Fz (/lbf)
Tx,Ty,Tz (/lbf-in)
Fx,Fy,Fz (/N)
Tx,Ty,Tz (/Nm)
Delta US-7.5–25/SI-32–2.5 512 512 128 2112Delta US-15–50/SI-65–5 256 256 64 1066.67Delta US-30–100/SI-130–10 128 128 32 533.333Delta Tool Transform Factor 0.01 in/lbf 0.6 mm/N
CountsValue–Standard(US) CountsValue–Metric(SI)
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com122
5.13.9 Delta(USCalibrationComplexLoading)(IncludesIP60/IP65/IP68)1
HelpDelta
US-50-150 US-75-300 US-150-600
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com123
5.13.10 Delta(SICalibrationComplexLoading)(IncludesIP60/IP65/IP68)1
HelpDelta
SI-165-15 SI-330-30 SI-660-60
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com124
5.13.11 DeltaDAQ/NetTransducer Drawing
3rd
AN
GLE
PRO
JEC
TION
63.5
DA
Q S
yste
m25
.4D
AQ
Sys
tem
66.9
Net
Sys
tem
32.8
Net
Sys
tem
30°
Cus
tom
er m
achi
nes
mou
ntin
g pa
ttern
as
need
ed in
pla
te.
Rem
ove
plat
e pr
ior t
o m
achi
ning
.+X -X
-Y+Y
MO
UN
TIN
G S
IDE
Con
nect
or fo
r Cab
le
Var
ies
Dep
endi
ng o
nS
enso
r Sel
ecte
d
1.2
1
9.1
94
.5
73
92
28
28.
6
33.
3
+Z-Z
Tool
Ada
pter
Pla
te
Sen
sing
Ref
eren
ce
Fram
e O
rigin
Cus
tom
er In
terfa
ce16
H7
3.6
6 S
lip F
it 5.
6C
usto
mer
Inte
rface
(See
Not
e 3)
25±
0.02
5
4X T
ap M
6X1.
0
5.6
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce(S
ee N
ote
3) B.C
. 50
+X -X
-Y+YS
ensi
ng R
efer
ence
Fr
ame
Orig
in
TOO
L S
IDE
ISO
ME
TRIC
VIE
W
Not
es: Mat
eria
l: H
arde
ned
Sta
inle
ss S
teel
and
Alu
min
um.
1.D
o no
t tou
ch in
tern
al e
lect
roni
cs o
r ins
trum
enta
tion.
2.Th
is c
ould
dam
age
the
trans
duce
r and
will
voi
d th
e w
arra
nty.
DO
NO
T EX
CEE
D IN
TER
FAC
E D
EPTH
, MA
Y C
AU
SE D
AM
AG
E.3.
For b
est a
ccur
acy,
tran
sduc
er m
ust b
e m
ount
ed to
a s
urfa
ce ri
gid
4.
eno
ugh
to s
uppo
rt lo
ads
with
out d
efle
ctio
n.
SID
E V
IEW
Mou
ntin
g A
dapt
erP
late
Rev.
Des
crip
tion
Initi
ator
Dat
e
04EC
O 1
2940
; Ad
ded
6m
m to
" S
lip F
it 5
.6 C
usto
mer
In
terfa
ce (S
ee N
ote
3)" c
allo
ut; A
dd
ed d
iam
eter
sym
bol t
o 92
dim
ensio
n; R
emov
ed 1
.0 x
45
from
16
H7
3.6
.TB
C6/
1/20
15
B1:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
R. C
ham
bers
11/
6/08
P. F
usco
12/
5/08
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-13
3004
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Del
ta T
rans
duce
r
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com125
5.13.12 9105-T-Delta Transducer without Mounting Adapter Drawing
3rd
AN
GLE
PRO
JEC
TION
29.5
18.5
3.8
41.5
00±0
.025 74
H7
1.3
Cha
mfe
r .63
x 4
5C
usto
mer
Inte
rface
(See
Not
e 4)
Cus
tom
er In
terfa
ceE
qual
ly S
pace
d6X
Tap
M5X
0.8
8
83 B
.C.
+X
-Y
-X
+Y
Rig
ht-A
ngle
Con
nect
or
MO
UN
TIN
G S
IDE
5 D
owel
Pin
EXPO
SED
CIR
CUI
TRY
IN T
HIS
ARE
AD
O N
OT
TOUC
H73
4.7
Max
92
2828.6
Tool
Ada
pter
Pla
te
+Z-Z
SID
E VI
EW
Sens
ing
Ref
eren
ceFr
ame
Orig
in6
Slip
Fit
5.6
Cus
tom
er In
terfa
ce(S
ee N
ote
4)
16 H
7 3
.6C
ham
fer 1
.0 x
45
Cus
tom
er In
terfa
ce25
±0.0
25
(See
Not
e 4)
4X T
ap M
6X1.
0 5.
6E
qual
ly S
pace
dC
usto
mer
Inte
rface
45°
50 B
.C.
TOO
L SI
DE
+X
-Y+Y
-XSe
nsin
g R
efer
ence
Fram
e O
rigin
ISO
MET
RIC
VIE
W
Not
es:
1. M
ater
ial:
Har
dene
d St
ainl
ess
Stee
l.2.
Do
not t
ouch
inte
rnal
ele
ctro
nics
or i
nstru
men
tatio
n. T
his
coul
d
dam
age
trans
duce
r and
will
void
war
rant
y.3.
Too
l Sid
e R
ING
-PLU
G O
ptio
n M
oves
Orig
in. S
ee
923
0-05
-105
9 fo
r Pos
ition
.4.
DO
NO
T EX
CEE
D IN
TER
FAC
E D
EPTH
, MA
Y C
AU
SE D
AM
AG
E.5.
For
bes
t acc
urac
y, tr
ansd
ucer
mus
t be
mou
nted
to a
sur
face
rigi
d
eno
ugh
to s
uppo
rt lo
ads
with
out d
efle
ctio
n.
Rev.
Des
crip
tion
Initi
ator
Dat
e
06E
CO
903
7: D
elet
e ov
erlo
ad p
ins
JW10
/11/
2011
B1:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
C. S
turg
is 0
1/28
/10
P. F
usco
01/
28/1
0
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-11
02-
06
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Del
ta T
rans
duce
r with
out M
ount
ing
Adap
ter
Note: Mux transducers are used in F/T Controller systems.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com126
5.13.13 Delta Mounting Adapter Drawing
3rd
AN
GLE
PRO
JEC
TION
6X C
ount
ersi
nk h
oles
for
M5
SFH
CS
Slip
Fit
for
5 D
owel
Pin
74 R
efB
oss
94
.5
4.7
1.3
M5
x 10
SFH
CS
,G
rade
10.
9M
5 x
10,
Dow
el P
in
Del
ta M
ount
ing
Ada
pter
Del
ta T
rans
duce
rTr
ansd
ucer
with
Mou
ntin
g A
dapt
er
ISO
ME
TRIC
VIE
WS
CA
LE 2
:3
Not
es: Mat
eria
l: H
igh-
Tens
ile A
lum
inum
1.Fi
nish
: Sof
t Bla
ck A
nodi
ze2.
Mou
ntin
g A
dapt
er: C
usto
mer
to m
achi
ne p
late
as
requ
ired
for m
ount
ing.
3.S
uppl
ied
with
(6) M
5 x
10 S
FHC
S, G
rade
10.
9 an
d (1
) M5
x 10
Dow
el P
in,
DIN
632
5.
74 B
oss
and
5 D
owel
Pin
use
d fo
r loc
atin
g to
Del
ta T
rans
duce
r.
C L
Rev.
Des
crip
tion
Initi
ator
Dat
e
05Ec
o 10
296;
Upd
ated
Tra
nsd
ucer
Bod
y w
ithou
t ove
rload
pin
s.C
F10
/26/
2012
B1:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
C. F
leso
ck, 6
/19/
2009
P. F
usco
, 6/2
2/20
09
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-10
6305
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Del
ta M
ount
ing
Adap
ter
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com127
5.13.14 Delta IP60 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
B.C
. 63
84.7
2X
6 S
lip F
it 6.
35C
usto
mer
Inte
rface
120°
117
45°
31.5
00±0
.025
47.2
50±0
.025
27.2
80±0
.025
B.C
. 10
6.7
45°
Sid
e P
atte
rnO
ptio
nal M
ount
ing
Cus
tom
er In
terfa
ceE
qual
ly S
pace
dFo
r M6
SH
CS
4X
6.7
Thr
u
58.4
MU
X &
DA
QS
yste
m 67.2
Net
Sys
tem
Not
es:
1. M
ater
ial:
Sta
inle
ss S
teel
and
Alu
min
um2.
Sen
sing
Ref
eren
ce F
ram
e O
rigin
at S
urfa
ce C
ente
r of T
ool A
dapt
er.
3. D
o no
t dis
asse
mbl
e tra
nsdu
cer.
Doi
ng s
o co
uld
dam
age
trans
duce
r
and
will
voi
d w
arra
nty.
4. F
or b
est a
ccur
acy,
tran
sduc
er m
ust b
e m
ount
ed to
a s
urfa
ce ri
gid
e
noug
h to
sup
port
load
s w
ithou
t def
lect
ion.
4X T
ap M
6 X
1.0
7.
6E
qual
ly S
pace
dC
usto
mer
Inte
rface
+X
-Y+Y
-X
-Z
MO
UN
TIN
G S
IDE
+Y-Y
+X -X
Con
nect
or F
or C
able
Var
ies
Dep
endi
ng o
nS
enso
r Sel
ecte
d
45.2
11.4
47.
1 M
ount
ing
Ada
pter
Pla
te
Sen
sing
Ref
eren
ceFr
ame
Orig
in
Neo
pren
eR
ubbe
r D
ust J
acke
t
SID
E V
IEW
+Z
Tool
Ada
pter
Pla
te
94.6
6 S
lip F
it10
Cus
tom
er In
terfa
ce
25±
0.02
5
4X T
ap M
6X1.
010
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce
16 H
7,
6C
ham
fer 1
.0X
45C
usto
mer
Inte
rface
B.C
. 50
S
ensi
ng R
efer
ence
Fram
e O
rigin TO
OL
SID
E
ISO
ME
TRIC
VIE
W
Rev.
Des
crip
tion
Initi
ator
Dat
e
06Ec
o 16
391;
Dim
47.
1 w
as 4
6.7
(ass
embl
y m
ate
issue
).LJ
H3/
11/2
014
B1:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
P.Sp
arro
w, 2
/13/
06
-
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-12
6206
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP60
Del
ta T
rans
duce
r
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com128
5.13.15 ECAT Delta IP60 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
4X
6.7
Thr
uFo
r M6
SH
CS
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ceO
ptio
nal M
ount
ing
Sid
e P
atte
rn
4X T
ap M
6 9
.2E
qual
ly S
pace
dC
usto
mer
Inte
rface
2X
6 S
lip F
it6
Cus
tom
er In
terfa
ce
72.
1
84.
7
31.
500±
0.02
5
27.
280±
0.02
5
47.
250±
0.02
5
11
6.8
B.C
.10
6.7
B.C
.63
45°
1
20°
11.
4 3
5.7
47.
1
45.
2 1
.9
92
Sen
sing
Ref
eren
ceFr
ame
Orig
in
Eth
erC
AT
LED
Indi
cato
rs
Mou
ntin
gA
dapt
erP
late
Rin
g Te
rmin
al(F
or O
ptio
nal
Ear
th G
roun
d C
onne
ctio
n)
Tool
Ada
pter
Pla
te
6
Slip
Fit
6C
usto
mer
Inte
rface
16 H
7 5.
8C
ham
fer 1
.0 X
45
Cus
tom
er In
terfa
ce
94
.6
4X T
ap M
6X1.
0 9
.8E
qual
ly S
pace
dC
usto
mer
Inte
rface
B.C
. 50
45°
Sen
sing
Ref
eren
ceFr
ame
Orig
in
Eth
erC
AT
(Opt
iona
l PoE
)
DC
Pow
er
Not
es:
Mat
eria
l: S
tain
less
Ste
el a
nd A
lum
inum
1.S
ensi
ng R
efer
ence
Fra
me
Orig
in a
t sur
face
cen
ter o
f Too
l Ada
pter
.2.
Do
not d
isas
sem
ble
trans
duce
r. D
oing
so
coul
d da
mag
e tra
nsdu
cer a
nd w
ill v
oid
war
rant
y.3.
For b
est a
ccur
acy,
tran
sduc
er m
ust b
e m
ount
ed to
a s
urfa
ce ri
gid
enou
gh to
sup
port
load
s 4.
with
out d
efle
ctio
n.
-Z+Z
TOO
L S
IDE
SID
E V
IEW
MO
UN
TIN
G S
IDE
+Y-Y
+X
-X
+X
-X
-Y+Y
Rev.
Des
crip
tion
Initi
ator
Dat
e
01In
itial
Rel
ease
RTD
12/5
/201
6
B1:
21
2RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
R.D
upre
e 12
/2/1
6
A.G
lusi
ec 1
2/5/
16
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-15
1015
0121
-101
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP60
Del
taTr
ansd
ucer
with
Eth
erC
AT E
lect
roni
cs
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com129
3rd
AN
GLE
PRO
JEC
TION
ISO
ME
TRIC
VIE
W
DC
Pow
er C
onne
ctor
3-P
in M
ale
M8
D-C
oded
Eth
erC
AT
Con
nect
or4-
Pin
Fem
ale
M12
D-C
oded
Pin
No.
Sign
al1
V+
3G
ND
4N
/C
Pin
No.
Sig
nal
1TX
+2
RX
+3
TX-
4R
X-
She
llC
onne
ctor
Blo
ck
Hou
sing
Rev.
Des
crip
tion
Initi
ator
Dat
e
-Se
e Sh
eet1
--
B1:
22
2RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
R.D
upre
e 12
/2/1
6
A.G
lusi
ec 1
2/5/
16
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-15
1015
0121
-101
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP60
Del
taTr
ansd
ucer
with
Eth
erC
AT E
lect
roni
cs
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com130
5.13.16 Delta IP65 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
63.3
Mux
& D
AQ
S
yste
m
91.2
Mux
& D
AQ
Sys
tem
28.
750±
0.02
5
84.
290±
0.02
5
49.
796±
0.02
5
64.
678±
0.02
5
2X
6 S
lip F
it Th
ruC
usto
mer
Inte
rface
4X6.
8 Th
ruFo
r M6
SH
CS
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ceO
ptio
nal M
ount
ing
Sid
e P
atte
rn
B.C
.11
5
B.C
.63
4X T
ap M
6X1.
0 7
.6E
qual
ly S
pace
dC
usto
mer
Inte
rface
15.
750±
0.02
5
27.
280±
0.02
5
2X6
Slip
Fit
6.35
Cus
tom
er In
terfa
ce
47.
250±
0.02
5
70.5
N
et S
yste
m
84.2
Net
Sys
tem
45°
M
embr
ane
Vent
Con
nect
or F
or C
able
Var
ies
Dep
endi
ng o
n S
enso
r Sel
ecte
d
- X+ X
- Y+
Y
MO
UN
TIN
G S
IDE
6.7
52.
2
44.
5
Sens
ing
Ref
eren
ceFr
ame
Orig
in
Mou
ntin
g A
dapt
erP
late
Tool
Ada
pter
P
late
-Z+Z
SID
E VI
EW
10
3.6
12
6
45°
4X T
ap M
6X1.
0 8
.5E
qual
ly S
pace
dC
usto
mer
Inte
rface
16 H
7 6.
35C
ham
fer 1
x 4
5C
usto
mer
Inte
rface
B.C
.50
25±
0.02
5
Sens
ing
Ref
eren
ceFr
ame
Orig
in
+ Y
- Y
TOO
L SI
DE
+ X - X
6 S
lip F
it 6.
35C
usto
mer
Inte
rface
ISO
MET
RIC
VIE
W
Not
es: M
ater
ial:
Stai
nles
s St
eel a
nd A
lum
inum
1.Se
nsin
g R
efer
ence
Fra
me
Orig
in a
t Sur
face
Cen
ter o
f Too
l Ada
pter
.2.
Do
not d
isas
sem
ble
trans
duce
r. D
oing
so
coul
d da
mag
e tra
nsdu
cer
3.an
d w
ill vo
id w
arra
nty.
For b
est a
ccur
acy,
tran
sduc
er m
ust b
e m
ount
ed to
a s
urfa
ce ri
gid
4.en
ough
to s
uppo
rt lo
ads
with
out d
efle
ctio
n.
Cab
le m
ust b
e co
nnec
ted
to tr
ansd
ucer
to m
aint
ain
prop
er s
eal.
5.C
able
is IP
65 ra
ted
only
at t
rans
duce
r end
.6.
Rev.
Des
crip
tion
Initi
ator
Dat
e
04EC
9399
: Cha
nged
to fl
ange
d M
AP
RKC
1/23
/201
2
05Ec
o 10
139;
Ad
ded
Dow
el c
allo
ut to
TA
P sid
e.LJ
H9/
13/2
012
B4:
51
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
P.Sp
arro
w, 2
/16/
06
D. N
orto
n, 2
/17/
06
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-12
6705
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP65
Del
ta T
rans
duce
r
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com131
5.13.17 ECAT Delta IP65 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
68.
5
4X T
ap M
6X1.
0 7
.6E
qual
ly S
pace
dC
usto
mer
Inte
rface
64.
678±
0.02
5 4
9.79
6±0.
025
27.
280±
0.02
5
2X
6 S
lip F
it 6
.35
Cus
tom
er In
terfa
ce
2X
6 S
lip F
it Th
ruC
usto
mer
Inte
rface
84.
2 4X
6
.8 T
hru
For M
6 S
HC
SE
qual
ly S
pace
dC
usto
mer
Inte
rface
Opt
iona
l Mou
ntin
gS
ide
Pat
tern
B.C
. 11
5
84.
290±
0.02
5
47.
250±
0.02
5
15.
750±
0.02
5
28.
750±
0.02
5
B.C
.63
45°
D
C P
ower
-X
+X
+Y-Y
Eth
erC
AT
(Opt
iona
l PoE
)
6.7
44.
5
52.
2
Tool
Ada
pter
Pla
te
Mou
ntin
g A
dapt
erP
late
Sen
sing
Ref
eren
ceFr
ame
Orig
in
Eth
erC
AT
LED
Indi
cato
rs
-Z+Z
Rin
g Te
rmin
al(F
or O
ptio
nal
Ear
th G
roun
d C
onne
ctio
n)
B.C
.50
6
Slip
Fit
6.3
5C
usto
mer
Inte
rface
25±
0.02
5
10
3.6
12
6
16 H
7 6.
3C
ham
fer 1
x 4
5C
usto
mer
Inte
rface
4X T
ap M
6X1.
0 8
.5E
qual
ly S
pace
dC
usto
mer
Inte
rface 4
5° M
embr
ane
Ven
t
Sen
sing
Ref
eren
ceFr
ame
Orig
in
+Y-Y
+X -X
Not
es:
Mat
eria
l: S
tain
less
Ste
el a
nd A
lum
inum
1.S
ensi
ng R
efer
ence
Fra
me
Orig
in a
t Sur
face
Cen
ter o
f Too
l Ada
pter
.2.
Do
not d
isas
sem
ble
trans
duce
r. D
oing
so
coul
d da
mag
e tra
nsdu
cer a
nd w
ill v
oid
war
rant
y.3.
For b
est a
ccur
acy,
tran
sduc
er m
ust b
e m
ount
ed to
a s
urfa
ce ri
gid
enou
gh to
sup
port
load
s 4.
with
out d
efle
ctio
n.C
able
s m
ust b
e co
nnec
ted
to tr
ansd
ucer
to m
aint
ain
prop
er s
eal.
5.
MO
UN
TIN
G S
IDE
SID
E V
IEW
TOO
L S
IDE
Rev.
Des
crip
tion
Initi
ator
Dat
e
01In
itial
Dra
win
gLC
S4/
16/2
015
B4:
51
2RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
L. S
trahl
er 4
/16/
15
P. F
usco
4/1
7/15
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-14
6914
0328
-501
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
A. S
trotz
er 4
/21/
15
9105
-EC
AT-D
elta
-IP65
Cus
tom
er D
raw
ing
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com132
3rd
AN
GLE
PRO
JEC
TION
DC
Pow
er C
onne
ctor
3-P
in M
ale
M8
D-C
oded
ISO
ME
TRIC
VIE
W
Eth
erC
AT
Con
nect
or4-
Pin
Fem
ale
M12
D-C
oded
Pin
No.
Sig
nal
1V
+3
GN
D4
N/C
Pin
No.
Sig
nal
1TX
+2
RX
+3
TX-
4R
X-
She
llC
onne
ctor
Blo
ck H
ousi
ng
B4:
52
2RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
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T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
L. S
trahl
er 4
/16/
15
P. F
usco
4/1
7/15
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-14
6914
0328
-501
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
A. S
trotz
er 4
/21/
15
9105
-EC
AT-D
elta
-IP65
Cus
tom
er D
raw
ing
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com133
5.13.18 Delta IP68 Transducer Drawing
101.
60B.C
.63
(2)
6 H
7,
6.35
Cus
tom
er In
terfa
ce
91.2
120°
[ref]
31.5
00±0
.012
45°
Typ
47.2
50±0
.012
27.2
80±0
.012
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce
(4) T
AP
M6X
1 7
.62
61
Con
nect
or fo
r Cab
leVa
ries
Dep
endi
ng o
nSe
nsor
Sel
ecte
dN
OTE
S:
1. M
ATER
IAL:
Sta
inle
ss S
teel
2. S
ensi
ng R
efer
ence
fram
e or
igin
at
s
urfa
ce c
ente
r of t
ool a
dapt
er.
3. D
o no
t dis
asse
mbl
e tra
nsdu
cer.
Doi
ng s
o
cou
ld d
amag
e tra
nsdu
cer a
nd v
oid
war
rant
y.4.
For
bes
t acc
urac
y, tr
ansd
ucer
mus
t be
m
ount
ed to
sur
face
s rig
id e
noug
h to
sup
port
lo
ads
with
out d
efle
ctio
n.
5. C
able
mus
t be
conn
ecte
d to
Tra
nsdu
cer t
o
mai
ntai
n pr
oper
sea
l.6.
Cab
le is
onl
y IP
68 ra
ted
at T
rans
duce
r End
. Tr
ansd
ucer
is
IP68
rate
d in
fres
hwat
er e
nviro
nmen
t at a
dep
th o
f
up
to 1
0 m
eter
s.
52.2
44.2
6.41.
4
96.5Se
nsin
g R
efer
ence
Fram
e O
rigin
6 H
7,
6.35
Cus
tom
er In
terfa
ceE
qual
ly S
pace
dC
usto
mer
Inte
rface
(4) T
AP
M6X
1 8
.89
B.C
.50
16 H
7,
6.35
Cha
mfe
r 1 x
45
Cus
tom
er In
terfa
ce
25.0
000.
012
45°
Typ
Sens
ing
Ref
eren
ceFr
ame
Orig
in
MO
UN
TIN
G S
IDE
SID
E VI
EWTO
OL
SID
E
+X
+Y-Y
-X
-Z+Z
ISO
MET
RIC
VIE
W
+ X
+ Y
- Y
- X
Rev.
Des
crip
tion
Initi
ator
Dat
e
02Up
dat
ed m
odel
link.
PS3/
4/20
06
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D
DO
NO
T SC
ALE
DRA
WIN
G.
DRA
WN
IN S
OLID
WO
RKS.
ALL
DIM
ENSI
ON
S A
RE IN
MILL
IMET
ERS.
3rd
AN
GLE
PRO
JEC
TION
DRA
WN
BY:
CHE
CKE
D B
Y:
WEI
GHT
LBS
:
ASS
EMBL
Y RE
F:
P.Sp
arro
w, 2
/16/
06
D.N
orto
n, 2
/17/
06
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
DUC
T RE
LEA
SE #
DA
TE:
SHEE
T
OF
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C.
NO
T TO
BE
REPR
OD
UCED
IN A
NY
MA
NN
ER E
XCEP
T O
NO
RDER
OR
WITH
PRI
OR
WRI
TTEN
AUT
HORI
ZATIO
N O
F A
TI.
IP68
-10m
DEL
TA T
rans
duce
r
9230
-05-
1272
-02
B1:
11
1
5.8
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com134
5.14 ThetaSpecifications(IncludesIP60/IP65/IP68Versions)5.14.1 Theta Physical Properties
Table 4.76—Theta Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±4500 lbf ±20000 NFz ±11000 lbf ±51000 NTxy ±18000 inf-lb ±2000 NmTz ±18000 inf-lb ±2000 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.0x105 lb/in 7.1x107 N/m Z-axisforce(Kz) 6.9x105 lb/in 1.2x108 N/m X-axis&Y-axistorque(Ktx,Kty) 3.0x106 lbf-in/rad 3.4x105 Nm/rad Z-axistorque(Ktz) 4.7x106 lbf-in/rad 5.3x105 Nm/rad Resonant Frequency Fx, Fy, Tz 680 Hz 680 HzFz, Tx, Ty 820 Hz 820 HzPhysicalSpecifications Weight1 11 lb 4.99 kgDiameter1 6.1 in 155 mmHeight1 2.41 in 61.1 mmNote:
1. Specificationsincludestandardinterfaceplates.
5.14.2 Theta IP60 Physical PropertiesTable 4.77—Theta IP60 Physical Properties
Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±4500 lbf ±20000 NFz ±11000 lbf ±51000 NTxy ±18000 inf-lb ±2000 NmTz ±18000 inf-lb ±2000 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.0x105 lb/in 7.1x107 N/m Z-axisforce(Kz) 6.9x105 lb/in 1.2x108 N/m X-axis&Y-axistorque(Ktx,Kty) 3.0x106 lbf-in/rad 3.4x105 Nm/rad Z-axistorque(Ktz) 4.7x106 lbf-in/rad 5.3x105 Nm/rad Resonant Frequency Fx, Fy, Tz N/A N/AFz, Tx, Ty N/A N/APhysicalSpecifications Weight1 19 lb 8.62 kgDiameter1 7.63 in 194 mmHeight1 2.91 in 74 mmNote:
1. Specificationsincludestandardinterfaceplates.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com135
5.14.3 Theta IP65/IP68 Physical PropertiesTable 4.78—Theta IP65/IP68 Physical Properties
Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±4500 lbf ±20000 NFz ±11000 lbf ±51000 NTxy ±18000 inf-lb ±2000 NmTz ±18000 inf-lb ±2000 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.0x105 lb/in 7.1x107 N/m Z-axisforce(Kz) 6.9x105 lb/in 1.2x108 N/m X-axis&Y-axistorque(Ktx,Kty) 3.0x106 lbf-in/rad 3.4x105 Nm/rad Z-axistorque(Ktz) 4.7x106 lbf-in/rad 5.3x105 Nm/rad Resonant Frequency Fx, Fy, Tz N/A N/AFz, Tx, Ty N/A N/APhysicalSpecifications Weight1 19.8 lb 9 kgDiameter1 6.41 in 163 mmHeight1 2.95 in 74.8 mmNote:
1. Specificationsincludestandardinterfaceplates.
CAUTION: When submerged, IP68 transducers exhibit a decrease in Fz range related to the submersion depth. This loss is the result of pressure-induced preloading on the transducer. The preload can be masked by biasing the transducer at the depth prior to applying the load to be measured. The following estimates are for room temperature fresh water at sea level.
Submersion DepthIP68 Theta US MetricFz preload at 10 m depth 429 lb 1907 NFz preload at other depths -13 lb/ft × depthInFeet -191 N/m × depthInMeters
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com136
5.14.4 CalibrationSpecifications(excludesCTLcalibrations)Table 4.79—ThetaCalibrations(excludesCTLcalibrations)1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Theta US-200-1000 200 500 1000 1000 1/32 1/16 1/8 1/8Theta US-300-1800 300 875 1800 1800 5/68 5/34 5/16 5/16Theta US-600-3600 600 1500 3600 3600 1/8 1/4 1/2 1/2
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Theta SI-1000-120 1000 2500 120 120 1/4 1/4 1/40 1/80Theta SI-1500-240 1500 3750 240 240 1/2 1/2 1/20 1/40Theta SI-2500-400 2500 6250 400 400 1/2 1 1/20 1/20
Sensing Ranges Resolution(DAQ,NetF/T)4
Notes:1. These system resolutions quoted are the effective resolution after dropping four counts of noise. The effective
resolutioncanbeimprovedwithfiltering.2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. For IP68 version see caution on physical properties page.4. DAQ resolutions are typical for a 16-bit data acquisition system.
5.14.5 CTL CalibrationSpecificationsTable 4.80— Theta CTL Calibrations1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Theta US-200-1000 200 500 1000 1000 1/16 1/8 1/4 1/4Theta US-300-1800 300 875 1800 1800 5/34 5/17 5/8 5/8Theta US-600-3600 600 1500 3600 3600 1/4 1/2 1 1
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Theta SI-1000-120 1000 2500 120 120 1/2 1/2 1/20 1/40Theta SI-1500-240 1500 3750 240 240 1 1 1/10 1/20Theta SI-2500-400 2500 6250 400 400 1 2 1/10 1/10
Sensing Ranges Resolution(Controller)Notes:
1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight counts of noise.Theeffectiveresolutioncanbeimprovedwithfiltering.
2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly. 3. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com137
5.14.6 CTL Analog OutputTable 4.81— Theta Analog Output
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz2 (lbf)
Tx,Ty,Tz (lbf-in)
Fx,Fy (lbf/V)
Fz2 (lbf/V)
Tx,Ty,Tz (lbf-in/V)
Theta US-200-1000 ±200 ±500 ±1000 20 50 100Theta US-300-1800 ±300 ±875 ±1800 30 87.5 180Theta US-600-3600 ±600 ±1500 ±3600 60 150 360
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz2 (N)
Tx,Ty,Tz (Nm)
Fx,Fy (N/V)
Fz2 (N/V)
Tx,Ty,Tz (Nm/V)
Theta SI-1000-120 ±1000 ±2500 ±120 100 250 12Theta SI-1500-240 ±1500 ±3750 ±240 150 375 24Theta SI-2500-400 ±2500 ±6250 ±400 250 625 40
Analog Output Range Analog±10VSensitivity1
Notes:1. ±5V Sensitivity values are double the listed ±10V Sensitivity values.2. For IP68 version see caution on physical properties page.
5.14.7 CTLCountsValueTable 4.82—CountsValue
Sensor Calibration Fx,Fy,Fz (/lbf)
Tx,Ty,Tz (/lbf-in)
Fx,Fy,Fz (/N)
Tx,Ty,Tz (/Nm)
Theta US-200–1000/SI-1000–120 128 64 32 320Theta US-300–1800/SI-1500–240 54.4 12.8 16 160Theta US-600–3600/SI-2500–400 32 16 16 80Theta Tool Transform Factor See Tool Transform Factor table
CountsValue–Standard(US) CountsValue–Metric(SI)
5.14.8 Tool Transform Factor
Table 4.83—Tool Transform FactorSensor Calibration US(English) SI(Metric)Theta US-200–1000/SI-1000–120 0.02 in/lbf 1 mm/NTheta US-300–1800/SI-1500–240 0.0425 in/lbf 1 mm/NTheta US-600–3600/SI-2500–400 0.02 in/lbf 2 mm/N
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com138
5.14.9 Theta(USCalibrationComplexLoading)(IncludesIP60/IP65/IP68)1
HelpTheta
US-200-1000 US-300-1800 US-600-3600
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com139
5.14.10 Theta(SICalibrationComplexLoading)(IncludesIP60/IP65/IP68)1
HelpTheta
SI-1000-120 SI-1500-240 SI-2500-400
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com140
5.14.11 ThetaDAQ/NetTransducer Drawing
3rd
AN
GLE
PRO
JEC
TION
95.5
DA
Q S
yste
m
25.4
DA
Q S
yste
m
97.8
Net
Sys
tem
32.8
Net
Sys
tem
30°
Cus
tom
er m
achi
nes
mou
ntin
g pa
ttern
as n
eede
d in
pla
te.
Rem
ove
plat
e pr
ior
to m
achi
ning
.
MO
UN
TIN
G S
IDE
+X -X
-Y+Y
49.1
1.2
1
9.1
46.
6
61.
1
15
5
129
Mou
ntin
g A
dapt
er
Pla
te
Tool
Ada
pter
P
late
Sen
sing
Ref
eren
ceFr
ame
Orig
in
SID
E V
IEW
+Z-Z
10.0
139.
995
Slip
Fit
11.5
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
4X T
ap M
12X
1.75
11
.5E
qual
ly S
pace
dC
usto
mer
Inte
rface
(See
Not
e 3)
40 H
7 9.
81.
0 x
45 C
ham
fer
Cus
tom
er In
terfa
ce
50±
0.02
5
B.C
. 10
0
Sen
sing
Ref
eren
ceFr
ame
Orig
in
TOO
L S
IDE
+Y-Y
+X -X
ISO
ME
TRIC
VIE
W
Not
es: Mat
eria
l: H
arde
ned
Sta
inle
ss S
teel
.1.
Do
Not
Tou
ch in
tern
al e
lect
roni
cs o
r ins
trum
enta
tion.
2.
This
cou
ld d
amag
e th
e tra
nsdu
cer a
nd w
ill v
oid
the
war
rant
y.D
O N
OT
EXC
EED
INTE
RFA
CE
DEP
TH, M
AY
CA
USE
DA
MA
GE.
3.Fo
r bes
t acc
urac
y, tr
ansd
ucer
mus
t be
mou
nted
to a
sur
face
rigi
d4.
e
noug
h to
sup
port
load
s w
ithou
t def
lect
ion.
Con
nect
or fo
r Cab
leV
arie
s D
epen
ding
on
Sen
sor S
elec
ted
Rev.
Des
crip
tion
Initi
ator
Dat
e
04Ec
o 92
30; C
orre
cted
typo
; "d
epen
din
g"LJ
H12
/7/1
1
B1:
21
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
R C
ham
bers
11/
12/0
8
P. F
usco
12/
5/08
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-13
31-
04
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Thet
a Tr
ansd
ucer
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com141
5.14.12 9105-T-Theta Transducer without Mounting Adapter Drawing
3rd
AN
GLE
PRO
JEC
TION
40 H
7 9.
8C
ham
fer 1
.27X
45C
usto
mer
Inte
rface
(See
Not
e 3)
4X T
ap M
12 x
1.7
5 11
.5E
qual
ly S
pace
dC
usto
mer
Inte
rface
10 S
lip F
it 12
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
50±0
.025
100
B.C
.
45°
+Y
-X
+X
-Y
TOO
L SI
DE
Sens
ing
Ref
eren
ceFr
ame
Orig
in
155
129
12 M
ax
46.6
49.1
Tool
Ada
pter
Pla
te
-Z+Z
SID
E V
IEW
Sens
ing
Ref
eren
ceFr
ame
Orig
in
18.5
29.5
3.8
Cus
tom
er In
terfa
ceE
qual
ly S
pace
d8X
Tap
M6X
1.0
7
130
H7
Fit
1.3
Cha
mfe
r .50
X45
Cus
tom
er In
terfa
ce
(See
Not
e 3)
22.
50°
70±
0.00
25
14
0 B
.C.
-Y+Y
+X -X
MO
UNTIN
G S
IDE
6 D
owel
Pin
.
Rig
ht A
ngle
Con
nect
or
ISO
MET
RIC
VIE
W
Not
es:
1. M
ater
ial:
Har
dene
d St
ainl
ess
Stee
l.2.
Do
not t
ouch
inte
rnal
ele
ctro
nics
or i
nstru
men
tatio
n. T
his
coul
d
dam
age
the
trans
duce
r and
will
void
the
war
rant
y.3.
DO
NO
T EX
CEE
D IN
TER
FAC
E D
EPTH
, MA
Y C
AU
SE D
AM
AG
E.4.
For
bes
t acc
urac
y, th
e tra
nsdu
cer m
ust b
e m
ount
ed to
a s
urfa
ce ri
gid
e
noug
h to
sup
port
load
s w
ithou
t def
lect
ion.
EXPO
SED
CIR
CU
ITR
YIN
TH
IS A
REA
DO
NO
T TO
UC
H
Rev.
Des
crip
tion
Initi
ator
Dat
e
07Ec
o 90
37: D
elet
e ov
erlo
ad p
ins
JW10
/11/
2011
B1:
21
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
B. D
iges
o 3/
3/00
D. N
orto
n 7/
15/0
5
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-11
04-
07
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Thet
a Tr
ansd
ucer
with
out M
ount
ing
Adap
ter P
late
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com142
5.14.13 Theta Mounting Adapter Plate Drawing
3rd
AN
GLE
PRO
JEC
TION
M6
x 12
SH
CS
Gra
de 1
2.9
M6
x 12
Dow
el P
in
Thet
a M
ount
ing
Ada
pter
Thet
a Tr
ansd
ucer
6.35
Thr
u
8X
Cou
nter
bore
hol
es fo
r M
6 S
HC
S
Slip
Fit
for
6 D
owel
Pin
C L
155
12.
0
1.0
130
Ref
Bos
s
Tran
sduc
er w
ithM
ount
ing
Ada
pter
ISO
ME
TRIC
VIE
WS
CA
LE 1
:2.5
Not
es: Mat
eria
l: 30
3 S
tain
less
Ste
el1.
Mou
ntin
g A
dapt
er: C
usto
mer
to m
achi
ne p
late
as
requ
ired
for m
ount
ing.
2.S
uppl
ied
with
(8) M
6 x
12 S
HC
S, G
rade
12.
9 an
d (1
) M6
x 12
Dow
el P
in,
DIN
632
5.
130
Bos
s an
d 6
Dow
el P
in u
sed
for l
ocat
ing
to T
heta
Tra
nsdu
cer.
Rev.
Des
crip
tion
Initi
ator
Dat
e
05Ec
o 10
296;
Cha
nged
Gra
de
of M
6 x
12 S
HCS
from
10.
9 to
12
.9; U
pdat
ed T
rans
duc
er B
ody
with
out o
verlo
ad p
ins.
CF
10/2
5/20
12
B1:
21
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
C. F
leso
ck, 6
/22/
2009
P. F
usco
, 6/2
2/20
09
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-10
76-
05
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Thet
a M
ount
ing
Adap
ter
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com143
5.14.14 Theta IP60 Transducer Drawing
124
135°
B.C
. 12
5
193.
7
(2)
10 S
lip F
it 8
Cus
tom
er In
terfa
ce(7
)8.
7 Th
ruFo
r M8
SH
CS
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ceO
ptio
nal M
ount
ing
Sid
e P
atte
rn
B.C
. 18
015
°
135°
(2)
8 S
lip F
it 12
Cus
tom
er In
terfa
ce
62.5
00±0
.025
106.
694±
0.02
5
44.1
94±0
.025
77.9
42±0
.025
45±0
.025
101.
236±
0.02
5
131.
933±
0.02
5
57.8
Mux
& D
AQ
Sys
tem45
° 70.4
Net
Sys
tem
+X
+Y-Y
-X
(6) T
ap M
10x1
.5
10E
qual
ly S
pace
dC
usto
mer
Inte
rface
Con
nect
or F
or C
able
Var
ies
Dep
endi
ng o
nS
enso
r Sel
ecte
d
74
0.6
54.6
Neo
pren
eR
ubbe
r D
ust J
acke
tTo
ol A
dapt
er P
late
Sen
sing
Ref
eren
ceFr
ame
Orig
in
Mou
ntin
g A
dapt
er P
late
+Z
40 H
7,
15C
usto
mer
Inte
rface
10 S
lip F
it 15
Cus
tom
er In
terfa
ce
B.C
. 10
0
50±0
.025
155
45°
Sen
sing
Ref
eren
ceFr
ame
Orig
in(4
) Tap
M12
x1.7
5 15
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce
+X -X
-Y+Y
Not
es:
1. M
ater
ial:
Sta
inle
ss S
teel
and
Alu
min
um2.
Do
not t
ouch
inte
rnal
ele
ctro
nics
or i
nstru
men
tatio
n.
T
his
coul
d da
mag
e th
e tra
nsdu
cer a
nd w
ill v
oid
war
rant
y.3.
Sen
sing
Ref
eren
ce F
ram
e O
rigin
at s
urfa
ce c
ente
r of T
ool A
dapt
er.
4. F
or b
est a
ccur
acy,
tran
sduc
er m
ust b
e m
ount
ed to
sur
face
s rig
id
eno
ugh
to s
uppo
rt lo
ads
with
out d
efle
ctio
n.IS
OM
ETR
IC V
IEW
TOO
L S
IDE
SID
E V
IEW
MO
UN
TIN
G S
IDE
-Z
Rev.
Des
crip
tion
Initi
ator
Dat
e
03A
dd
ed N
et D
imen
sions
ALH
8/7/
08
04Ec
o 72
55; D
im fr
om c
ente
r to
limits
of c
onne
ctor
blo
ck
cang
ed to
124
mm
from
132
mm
afte
r con
nect
or b
lock
co
mpo
nent
s cha
nged
.LJ
H9/
4/20
09
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
NO
TES:
UN
LESS
O
THER
WIS
E SP
ECIF
IED
DO
NO
T SC
ALE
DRA
WIN
G.
DRA
WN
IN S
OLID
WO
RKS.
ALL
DIM
ENSI
ON
S A
RE
IN M
ILLIM
ETER
S.
3rd
AN
GLE
PRO
JEC
TION
DRA
WN
BY:
CHE
CKE
D B
Y:
WEI
GHT
LBS
:
ASS
EMBL
Y RE
F:
P.Sp
arro
w, 2
/16/
06
D.N
orto
n, 2
/17/
06
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
DUC
T RE
LEA
SE #
DA
TE:
SHEE
T
OF
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C.
NO
T TO
BE
REPR
OD
UCED
IN A
NY
MA
NN
ER E
XCEP
T O
NO
RDER
OR
WITH
PRI
OR
WRI
TTEN
AUT
HORI
ZATIO
N O
F A
TI.
IP60
The
ta T
rans
duce
r 9230
-05-
1263
-04
B1:
21
1
19
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com144
5.14.15 Theta IP65 Transducer Drawing
162.
8
B.C
.12
5
(135
°)
123.
2 M
ux &
DA
QS
yste
m
60°C
usto
mer
Inte
rface
Equ
ally
Spa
ced
(6) T
ap M
10X
1.5
1
1
(2)
10 S
lip F
it 8
Cus
tom
er In
terfa
ce
61.6
Mux
& D
AQ
S
yste
m
44.1
94±0
.025
106.
694±
0.02
5
62.5
00±0
.025
70.7
Net
Sys
tem
103.
1N
et S
yste
m
Mem
bran
e Ve
nt
Not
es:
1. M
ater
ial:
Stai
nles
s St
eel
2. S
ensi
ng R
efer
ence
Fra
me
Orig
in a
t
sur
face
cen
ter o
f Too
l Ada
pter
.3.
Do
not d
isas
sem
ble
trans
duce
r. D
oing
so
c
ould
dam
age
trans
duce
r and
will
void
war
rant
y.4.
For
bes
t acc
urac
y, tr
ansd
ucer
mus
t be
mou
nted
to
s
urfa
ces
rigid
eno
ugh
to s
uppo
rt lo
ads
with
out d
efle
ctio
n.
5. C
able
mus
t be
conn
ecte
d to
tran
sduc
er to
mai
ntai
n pr
oper
sea
l.6.
Cab
le is
IP65
rate
d on
ly a
t tra
nsdu
cer e
nd.
Con
nect
or F
or C
able
Var
ies
Dep
endi
ng o
nS
enso
r Sel
ecte
d
74.7
9
2.40
27.9
444
.20
Sens
ing
Ref
eren
ceFr
ame
Orig
in
-Z+Z
Tool
Ada
pter
Pla
teM
ount
ing
Ada
pter
Pla
te
B.C
.10
0
Cus
tom
er In
terfa
ceE
qual
ly S
pace
d(4
) Tap
M12
X1.
75
15
45°
Cus
tom
er In
terfa
ce10
Slip
Fit
14
40.0
2539
.990
14
Cus
tom
er In
terfa
ce
50±0
.025
157.
48
Sens
ing
Ref
eren
ceFr
ame
Orig
in
ISO
MET
RIC
VIE
W
MO
UN
TIN
G S
IDE
SID
E VI
EWTO
OL
SID
E
+Y
-X
-Y
+Y-Y
+X -X
+X
Rev.
Des
crip
tion
Initi
ator
Dat
e
01In
itial
Issu
ePS
2/16
/200
6
02A
dd
ed N
et D
imen
sions
ALH
8/8/
2008
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
NO
TES:
UN
LESS
O
THER
WIS
E SP
ECIF
IED
DO
NO
T SC
ALE
DRA
WIN
G.
DRA
WN
IN S
OLID
WO
RKS.
ALL
DIM
ENSI
ON
S A
RE IN
MILL
IMET
ERS.
3rd
AN
GLE
PRO
JEC
TION
DRA
WN
BY:
CHE
CKE
D B
Y:
WEI
GHT
LBS
:
ASS
EMBL
Y RE
F:
P.Sp
arro
w, 2
/16/
06
D.N
orto
n, 2
/17/
06
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
DUC
T RE
LEA
SE #
DA
TE:
SHEE
T
OF
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C.
NO
T TO
BE
REPR
OD
UCED
IN A
NY
MA
NN
ER E
XCEP
T O
NO
RDER
OR
WITH
PRI
OR
WRI
TTEN
AUT
HORI
ZATIO
N O
F A
TI.
IP65
The
ta T
rans
duce
r 9230
-05-
1268
-02
B1:
1.5
11
20
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com145
5.14.16 Theta IP68 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
123.
2M
ux &
DA
QS
yste
m
162.
8
B.C
.12
5
Cus
tom
er In
terfa
ceE
qual
ly S
pace
d6X
Tap
M10
X1.
511
135°
62.5
00±0
.025
106.
694±
0.02
5
44.1
94±0
.025
2X10
Slip
Fit
8C
usto
mer
Inte
rface
60°
61M
ux &
DA
QS
yste
m 70N
et S
yste
m
116.
2N
et S
yste
m
Con
nect
or fo
r Cab
leVa
ries
Dep
endi
ng o
nSe
nsor
Sel
ecte
d
MO
UN
TIN
G S
IDE
+X
+Y
-X
-Y
44.2
28.22.
4
74.8
Sens
ing
Ref
eren
ceFr
ame
Orig
in
-Z+Z
Mou
ntin
g A
dapt
erP
late
Tool
Ada
pter
Pla
te
SID
E VI
EW
45°
B.C
.10
0
10 S
lip F
it 14
Cus
tom
er In
terfa
ce
40.0
2539
.990
14
Cus
tom
er In
terfa
ce
50.0
000.
025
157.
48
4X T
ap M
12X
1.75
1
5E
qual
ly S
pace
dC
usto
mer
Inte
rface
Sens
ing
Ref
eren
ceFr
ame
Orig
in
TOO
L SI
DE
+X
+Y-Y
-X
ISO
MET
RIC
VIE
W
Not
es:
1. M
ater
ial:
Stai
nles
s St
eel
2. S
ensi
ng R
efer
ence
Fra
me
Orig
in a
t sur
face
cen
ter o
f Too
l Ada
pter
.3.
Do
not d
isas
sem
ble
trans
duce
r. D
oing
so
coul
d da
mag
e tra
nsdu
cer
a
nd w
ill vo
id w
arra
nty.
4. F
or b
est a
ccur
acy,
tran
sduc
er m
ust b
e m
ount
ed to
sur
face
s rig
id
eno
ugh
to s
uppo
rt lo
ads
with
out d
efle
ctio
n.
5. C
able
mus
t be
conn
ecte
d to
tran
sduc
er to
mai
ntai
n pr
oper
sea
l.6.
Cab
le is
IP68
rate
d on
ly a
t tra
nsdu
cer e
nd.
Tran
sduc
er is
IP68
rate
d
in
fresh
wat
er e
nviro
nmen
t at a
dep
th o
f up
to 1
0 m
eter
s.
Rev.
Des
crip
tion
Initi
ator
Dat
e
04EC
1064
0: A
d N
et S
yste
m d
etai
ls to
the
dra
win
gJW
02/0
5/20
13
B1:
1.5
11
REVI
SIO
N
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
P.Sp
arro
w, 2
/16/
06
D. N
orto
n 2/
17/0
6
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-12
7304
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP68
-10m
TH
ETA
Tran
sduc
er
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com146
5.15 Omega85Specifications(IncludesIP60/IP65/IP68Versions)5.15.1 Omega85 Physical Properties
Table 4.84—Omega85 Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±2800 lbf ±13000 NFz ±6100 lbf ±27000 NTxy ±4400 inf-lb ±500 NmTz ±5400 inf-lb ±610 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.4x105 lb/in 7.7x107 N/m Z-axisforce(Kz) 6.8x105 lb/in 1.2x108 N/m X-axis&Y-axistorque(Ktx,Kty) 7.2x105 lbf-in/rad 8.1x104 Nm/rad Z-axistorque(Ktz) 1.2x106 lbf-in/rad 1.3x105 Nm/rad Resonant Frequency Fx, Fy, Tz 2100 Hz 2100 HzFz, Tx, Ty 3000 Hz 3000 HzPhysicalSpecifications Weight1 1.45 lb 0.658 kgDiameter1 3.35 in 85.1 mmHeight1 1.32 in 33.4 mmNote:
1. Specificationsincludestandardinterfaceplates.
5.15.2 Omega85 IP65/IP68 Physical PropertiesTable 4.85—Omega85 IP65/IP68 Physical Properties
Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±2800 lbf ±13000 NFz ±6100 lbf ±27000 NTxy ±4400 inf-lb ±500 NmTz ±5400 inf-lb ±610 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.4x105 lb/in 7.7x107 N/m Z-axisforce(Kz) 6.8x105 lb/in 1.2x108 N/m X-axis&Y-axistorque(Ktx,Kty) 7.2x105 lbf-in/rad 8.1x104 Nm/rad Z-axistorque(Ktz) 1.2x106 lbf-in/rad 1.3x105 Nm/rad Resonant Frequency Fx, Fy, Tz N/A N/AFz, Tx, Ty N/A N/APhysicalSpecifications Weight1 4.2 lb 1.91 kgDiameter1 3.65 in 92.7 mmHeight1 1.52 in 38.7 mmNote: 1.Specificationsincludestandardinterfaceplates.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com147
CAUTION: When submerged, IP68 transducers exhibit a decrease in Fz range related to the submersion depth. This loss is the result of pressure-induced preloading on the transducer. The preload can be masked by biasing the transducer at the depth prior to applying the load to be measured. The following estimates are for room temperature fresh water at sea level.
Submersion DepthIP68 Omega85 US MetricFz preload at 10 m depth 128 lb 570 NFz preload at other depths -3.9 lb/ft × depthInFeet -57 N/m × depthInMeters
5.15.3 CalibrationSpecifications(excludesCTLcalibrations)Table 4.86—Omega85Calibrations(excludesCTLcalibrations)1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Omega85 US-105-185 105 210 185 185 1/52 3/130 3/112 1/48Omega85 US-210-370 210 420 370 370 5/128 3/64 3/56 1/24Omega85 US-420-740 420 840 740 740 5/64 3/32 3/28 1/12
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Omega85 SI-475-20 475 950 20 20 1/14 3/28 5/1496 7/2992Omega85 SI-950-40 950 1900 40 40 1/7 3/14 5/748 7/1496Omega85 SI-1900-80 1900 3800 80 80 2/7 3/7 5/374 7/748
Sensing Ranges Resolution(DAQ,NetF/T)4
Notes:1. These system resolutions quoted are the effective resolution after dropping four counts of noise. The effective
resolutioncanbeimprovedwithfiltering.2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. For IP68 version see caution on physical properties page.4. DAQ resolutions are typical for a 16-bit data acquisition system.
NOTICE: The Omega85 does not support an on-board mux board, therefore it cannot be used with the F/T Controller. For Controller F/T systems we recommend the Mini85.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com148
5.15.4 Omega85(USCalibrationComplexLoading)(IncludesIP65/IP68)1
HelpOmega85
US-105-185 US-210-370 US-420-740
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com149
5.15.5 Omega85(SICalibrationComplexLoading)(IncludesIP65/IP68)1
HelpOmega85
SI-475-20 SI-950-40 SI-1900-80
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com150
5.15.6 Omega85 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
31.7
DA
Q S
yste
m
37±0
.025
71.3
06±0
.025
13.8
60±0
.025
(See
Not
e 4)
2X
5 S
lip F
it 11
Cus
tom
er In
terfa
ce
(See
Not
e 4)
Cus
tom
er In
terfa
ceP
airs
Equ
ally
Spa
ced
6X T
ap M
5X0.
8 11
60.1
20°
Typ.
10°
69.5
°
44.2
Net
Sys
tem
B.C
. 74
+X
+Y
-X
-Y-Z
+Z
MO
UN
TIN
G S
IDE
SID
E V
IEW
TOO
L S
IDE
ISO
ME
TRIC
VIE
W
-Y
+X
+Y
-X
Con
nect
or F
or C
able
Var
ies
Dep
endi
ng O
nS
enso
r Sel
ecte
d
85
33.4 19
.5
14D
AQ
Sys
tem
18.3
Net
Sys
tem
Mou
ntin
gA
dapt
erP
late
Tool
Ada
pter
Pla
te
Sen
sing
Ref
eren
ceFr
ame
Orig
in
40°
Typ.
(See
Not
e 4)
Cus
tom
er In
terfa
ce2X
5
Slip
Fit
6.5
(See
Not
e 4)
Cus
tom
er In
terfa
ceP
airs
Equ
ally
Spa
ced
6X T
ap M
5X0.
8 6.
523.3
83±0
.025
40.5
00±0
.02527
±0.0
25
20°
B.C
. 54
Sen
sing
Ref
eren
ceFr
ame
Orig
in
Not
es: M
ater
ial:
Har
dene
d st
ainl
ess
stee
l and
alu
min
um.
1.S
ensi
ng R
efer
ence
Fra
me
Orig
in a
t sur
face
cen
ter o
f Too
l Ada
pter
.2.
Do
not d
isas
sem
ble
trans
duce
r. D
oing
so
3.co
uld
dam
age
trans
duce
r and
will
voi
d w
arra
nty.
DO
NO
T EX
CEE
D IN
TER
FAC
E D
EPTH
, MA
Y C
AU
SE D
AM
AG
E.4.
For b
est a
ccur
acy,
tran
sduc
er m
ust b
e m
ount
ed to
sur
face
s 5.
rigid
eno
ugh
to s
uppo
rt lo
ads
with
out d
efle
ctio
n.
Rev.
Des
crip
tion
Initi
ator
Dat
e
03EC
O 9
072:
Ad
d N
et S
yste
m c
onne
ctor
blo
ck o
utlin
e to
Si
de
Vie
wJW
10/2
5/20
11
B1:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
D. S
wan
son
8/28
/08
P. F
usco
8/2
8/08
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-13
41-
03
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Om
ega8
5 Tr
ansd
ucer
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com151
5.15.7 Omega85 IP65 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
2
3
1
7
6
4
5
8
Not
e 6
Pre
/ 24
in-o
z
Not
e 7
Mag
nalu
beO
-Rin
g
222
/ 24
in-o
zC
onne
ctor
Orie
ntat
ion
Con
nect
or O
rient
atio
n V
iew
Not
es: Us
e 26
ga
wire
. Stri
p en
d fo
r crim
p so
cket
just
eno
ugh
(.25"
)1.
so th
at b
are
wire
is c
once
aled
insid
e of
pin
.C
rimp
setti
ng fo
r crim
p pi
n m
ust b
e se
tting
"3".
2.Us
e no
hea
t shr
ink
on c
rimp
sock
ets.
3.So
cket
s com
e co
nnec
ted.
4.C
onne
ctor
is ra
ted
for 3
AM
PS 2
50 V
5.Tr
im p
igta
ils o
f con
nect
or to
2-1
/2" b
efor
e so
lder
ing.
6.If
Mou
ntin
g on
QC
, app
ly L
octit
e 22
2 an
d To
rque
to 2
5 in
-lbs.
If 7.
mod
ule
is to
be
plac
ed in
inve
ntor
y, b
ag d
ry lo
ose
fast
ener
s.
Rev.
Des
crip
tion
Initi
ator
Dat
e
03Ec
o 29
29; P
80 w
as M
agna
lube
.JH
S12
/9/2
003
04Ec
o 57
22; A
dd
ed C
onne
ctor
Orie
ntat
ion
Vie
w.
Repl
aced
350
0-19
5800
5-21
with
350
0-19
5800
5-12
. C
reat
ed S
heet
2. U
pdat
ed N
otes
and
Titl
e Bl
ock.
CF
8/15
/200
7
05Ec
o 85
48; R
epla
ced
341
0-00
0108
7-01
, 370
0-20
-219
4, &
37
00-2
0-22
18 w
ith 9
005-
20-1
111.
Cha
nged
fast
ener
s 35
00-1
0604
0-12
& 3
500-
1058
010-
12 to
-15A
. Ad
ded
To
rque
& L
octit
e sp
ecs.
Upd
ated
Not
es &
Titl
e Bl
ock.
CF
5/9/
2011
ITEM
NO
.Q
TY.
PART
NUM
BER
DES
CRI
PTIO
N1
115
10-2
3130
02-1
5Tr
i-Sta
rt TV
P00R
W-1
5-15
SC2
435
00-1
0580
10-1
5AM
3 x
10m
m S
HCS
MB,
ND
Mic
rosp
here
s3
435
00-1
0620
40-1
5AM
4 x
40m
m S
HCS
MB
w/M
icro
sphe
res
41
3500
-195
8005
-12
M3
X 5
Set s
crew
51
3540
-010
1062
-21
1/16
Dow
el P
in S
.S.
61
3700
-20-
2219
C19
Too
l Hou
sing
71
4010
-000
0031
-01
Bend
ix G
aske
t8
190
05-2
0-11
1119
Pin
Too
l Pin
Blo
ck S
ubA
ssy
B1:
11
2RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
B. D
iges
o, 4
/19/
01
J. S
nape
, 4/2
3/01
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 91
20-C
15C
-T-
05
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
C15
C T
ool M
odul
e As
sem
bly
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com152
5.15.8 Omega85 IP68 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
37±0
.025
71.3
06±0
.025
13.8
60±0
.025
2X5
Slip
Fit
9C
usto
mer
Inte
rface
Cus
tom
er In
terfa
ceP
airs
Equ
ally
Spa
ced
6X T
ap M
5X0.
8
9
10°
20°
Typ
85.9
B.C
. 7
4
68.9
DA
Q S
yste
m69.5
°
79.9
Net
Sys
tem
+X -X
-Y+Y
MO
UN
TIN
G S
IDE
Con
nect
or fo
r Cab
leV
arie
s D
epen
ding
on
Sen
sor S
elec
ted
38.7
37.2
+Z-Z
Tool
A
dapt
erP
late
Mou
ntin
g A
dapt
erP
late
Sen
sing
Ref
eren
ceFr
ame
Orig
in
SID
E V
IEW
23.3
83±0
.025
40.5
00±0
.025
27±0
.025
20°
40°
Typ
Cus
tom
er In
terfa
ceP
airs
Equ
ally
Spa
ced
6X T
ap M
5X0.
8 8
92.7
B.C
. 54
Cus
tom
er In
terfa
ce2X
5 5 S
lip F
it 8
+Y-Y
-X+X
Sen
sing
Ref
eren
ceFr
ame
Orig
in
TOO
L S
IDE
ISO
ME
TRIC
VIE
WN
otes
: Mat
eria
l: S
tain
less
Ste
el1.
Sen
sing
Ref
eren
ce F
ram
e O
rigin
at s
urfa
ce c
ente
r of T
ool A
dapt
er.
2.D
o no
t dis
asse
mbl
e tra
nsdu
cer.
Doi
ng s
o co
uld
dam
age
the
trans
duce
r3.
and
will
voi
d w
arra
nty.
For b
est a
ccur
acy,
tran
sduc
er m
ust b
e m
ount
ed to
sur
face
s rig
id e
noug
h 4.
to s
uppo
rt lo
ads
with
out d
efle
ctio
n.C
able
mus
t be
conn
ecte
d to
tran
sduc
er to
mai
ntai
n pr
oper
sea
l.5.
Cab
le is
onl
y IP
68 ra
ted
at tr
ansd
ucer
end
.6.
Rev.
Des
crip
tion
Initi
ator
Dat
e
01In
itial
Dra
win
gRK
C6/
29/2
011
B1:
11
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
R. C
ham
bers
6/2
9/11
D. S
wan
son
6/29
/11
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-13
9610
1220
-101
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP68
Om
ega8
5 Tr
ansd
ucer
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com153
5.16 Omega160Specifications(IncludesIP60/IP65/IP68Versions)5.16.1 Omega160 Physical Properties
Table 4.87—Omega160 Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±3900 lbf ±18000 NFz ±11000 lbf ±48000 NTxy ±15000 inf-lb ±1700 NmTz ±17000 inf-lb ±1900 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.0x105 lb/in 7.0x107 N/m Z-axisforce(Kz) 6.8x105 lb/in 1.2x108 N/m X-axis&Y-axistorque(Ktx,Kty) 2.9x106 lbf-in/rad 3.3x105 Nm/rad Z-axistorque(Ktz) 4.6x106 lbf-in/rad 5.2x105 Nm/rad Resonant Frequency Fx, Fy, Tz 1300 Hz 1300 HzFz, Tx, Ty 1000 Hz 1000 HzPhysicalSpecifications Weight1 6 lb 2.72 kgDiameter1 6.16 in 157 mmHeight1 2.2 in 55.9 mmNote:
1. Specificationsincludestandardinterfaceplates.
5.16.2 Omega160 IP160 Physical Properties (IncludesECAT)Table 4.88—Omega160 IP160 Physical Properties
Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±3900 lbf ±18000 NFz ±11000 lbf ±48000 NTxy ±15000 inf-lb ±1700 NmTz ±17000 inf-lb ±1900 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.0x105 lb/in 7.0x107 N/m Z-axisforce(Kz) 6.8x105 lb/in 1.2x108 N/m X-axis&Y-axistorque(Ktx,Kty) 2.9x106 lbf-in/rad 3.3x105 Nm/rad Z-axistorque(Ktz) 4.6x106 lbf-in/rad 5.2x105 Nm/rad Resonant Frequency Fx, Fy, Tz 1100 Hz 1100 HzFz, Tx, Ty 1000 Hz 1000 HzPhysicalSpecifications Weight1 16.9 lb 7.67 kgDiameter1 7.63 in 194 mmHeight1 2.27 in 57.7 mmNote:
1. Specificationsincludestandardinterfaceplates.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com154
5.16.3 Omega160 IP65/IP68 Physical PropertiesTable 4.89—Omega160 IP65/IP68 Physical Properties
Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±3900 lbf ±18000 NFz ±11000 lbf ±48000 NTxy ±15000 inf-lb ±1700 NmTz ±17000 inf-lb ±1900 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 4.0x105 lb/in 7.0x107 N/m Z-axisforce(Kz) 6.8x105 lb/in 1.2x108 N/m X-axis&Y-axistorque(Ktx,Kty) 2.9x106 lbf-in/rad 3.3x105 Nm/rad Z-axistorque(Ktz) 4.6x106 lbf-in/rad 5.2x105 Nm/rad Resonant Frequency Fx, Fy, Tz 1200 Hz 1200 HzFz, Tx, Ty 900 Hz 900 HzPhysicalSpecifications Weight1 16 lb 7.26 kgDiameter1 6.5 in 165 mmHeight1 2.59 in 65.9 mmNote:
1. Specificationsincludestandardinterfaceplates.
CAUTION: When submerged, IP68 transducers exhibit a decrease in Fz range related to the submersion depth. This loss is the result of pressure-induced preloading on the transducer. The preload can be masked by biasing the transducer at the depth prior to applying the load to be measured. The following estimates are for room temperature fresh water at sea level.
Submersion DepthIP68 Omega160 US MetricFz preload at 10 m depth 429 lb 1907 NFz preload at other depths -13 lb/ft × depthInFeet -191 N/m × depthInMeters
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com155
5.16.4 CalibrationSpecifications(excludesCTLcalibrations)Table 4.90—Omega160Calibrations(excludesCTLcalibrations)1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Omega160 US-200-1000 200 500 1000 1000 1/32 1/16 1/8 1/8Omega160 US-300-1800 300 875 1800 1800 5/68 5/34 5/16 5/16Omega160 US-600-3600 600 1500 3600 3600 1/8 1/4 1/2 1/4
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Omega160 SI-1000-120 1000 2500 120 120 1/4 1/4 1/40 1/80Omega160 SI-1500-240 1500 3750 240 240 1/4 1/2 1/20 1/40Omega160 SI-2500-400 2500 6250 400 400 1/2 3/4 1/20 1/20
Sensing Ranges Resolution(DAQ,NetF/T)4
Notes:1. These system resolutions quoted are the effective resolution after dropping four counts of noise. The effective
resolutioncanbeimprovedwithfiltering.2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. For IP68 version see caution on physical properties page.4. DAQ resolutions are typical for a 16-bit data acquisition system.
5.16.5 CTL CalibrationSpecificationsTable 4.91— Omega160 CTL Calibrations1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Omega160 US-200-1000 200 500 1000 1000 1/16 1/8 1/4 1/4Omega160 US-300-1800 300 875 1800 1800 5/34 5/17 5/8 5/8Omega160 US-600-3600 600 1500 3600 3600 1/4 1/2 1 1/2
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Omega160 SI-1000-120 1000 2500 120 120 1/2 1/2 1/20 1/40Omega160 SI-1500-240 1500 3750 240 240 1/2 1 1/10 1/20Omega160 SI-2500-400 2500 6250 400 400 1 1 1/2 1/10 1/10
Sensing Ranges Resolution(Controller)Notes:
1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight counts of noise.Theeffectiveresolutioncanbeimprovedwithfiltering.
2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com156
5.16.6 CTL Analog OutputTable 4.92— Omega160 Analog Output
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz2 (lbf)
Tx,Ty,Tz (lbf-in)
Fx,Fy (lbf/V)
Fz2 (lbf/V)
Tx,Ty,Tz (lbf-in/V)
Omega160 US-200-1000 ±200 ±500 ±1000 20 50 100Omega160 US-300-1800 ±300 ±875 ±1800 30 87.5 180Omega160 US-600-3600 ±600 ±1500 ±3600 60 150 360
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz (N)
Tx,Ty,Tz (Nm)
Fx,Fy (N/V)
Fz2 (N/V)
Tx,Ty,Tz (Nm/V)
Omega160 SI-1000-120 ±1000 ±2500 ±120 100 250 12Omega160 SI-1500-240 ±1500 ±3750 ±240 150 375 24Omega160 SI-2500-400 ±2500 ±6250 ±400 250 625 40
Analog Output Range Analog±10VSensitivity1
Notes:1. ±5V Sensitivity values are double the listed ±10V Sensitivity values.2. For IP68 version see caution on physical properties page.
5.16.7 CTLCountsValueTable 4.93—CountsValue
Sensor Calibration Fx,Fy,Fz (/lbf)
Tx,Ty,Tz (/lbf-in)
Fx,Fy,Fz (/N)
Tx,Ty,Tz (/Nm)
Omega160 US-200–1000/SI-1000–120 128 64 32 320Omega160 US-300–1800/SI-1500–240 54.4 12.8 16 160Omega160 US-600–3600/SI-2500–400 32 16 16 80Omega160 Tool Transform Factor See Tool Transform Factor table
CountsValue–Standard(US) CountsValue–Metric(SI)
5.16.8 Tool Transform Factor
Table 4.94—Tool Transform FactorSensor Calibration US(English) SI(Metric)
Omega160 US-200–1000/SI-1000–120 0.02 in/lbf 1 mm/NOmega160 US-300–1800/SI-1500–240 0.0425 in/lbf 1 mm/NOmega160 US-600–3600/SI-2500–400 0.02 in/lbf 2 mm/N
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com157
5.16.9 Omega160(USCalibrationComplexLoading) (IncludesIP60/IP65/IP68)1
HelpOmega160
US-200-1000 US-300-1800 US-600-3600
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com158
5.16.10 Omega160(SICalibrationComplexLoading) (IncludesIP60/IP65/IP68)1
HelpOmega160
SI-1000-120 SI-1500-240 SI-2500-400
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com159
5.16.11 Omega160 Transducer without Mounting Adapter Drawing
3rd
AN
GLE
PRO
JEC
TION
50±0
.013
B.C
.10
0(4
) Tap
M10
x 1
.5
10Eq
ually
Spa
ced
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
-X+X
-Y+Y
TOO
L SI
DE
Sens
ing
Refe
renc
eFr
ame
Orig
in
10 S
lip F
it 10
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
40 H
7 10
Cus
tom
er In
terfa
ce(S
ee N
ote
3)
43.9
4
156.
5
12 7.49
Tool
Ada
pter
Plat
e
SID
E V
IEW
+Z-Z
Sens
ing
Refe
renc
eFr
ame
Orig
in
60°
30°
(See
Not
e 4)
Cus
tom
er In
terfa
ceSe
ts o
f 3 E
qual
ly S
pace
d(9
) Tap
M6
x 1.
0 30
3.8
29.5
(2)
6 D
owel
Pin
49.5
0±0.
013
49.5
0±0.
013
140
B.C
.67
.62±
0.01
3
18.1
2±0.
013
45°
16.7
+Y-Y
-X+X
MO
UNTIN
G S
IDE
Righ
t Ang
leC
onne
ctor
EXPO
SED
CIR
CUI
TRY
IN T
HIS
ARE
AD
O N
OT
TOUC
H
ISO
MET
RIC
VIE
W
Not
es: M
ater
ial:
Hard
ened
Sta
inle
ss S
teel
and
Alu
min
um1.
Do
not t
ouch
inte
rnal
ele
ctro
nics
or i
nstru
men
tatio
n.2.
This
coul
d da
mag
e th
e tra
nsdu
cer a
nd w
ill vo
id th
e w
arra
nty.
DO N
OT E
XCEE
D IN
TERF
AC
E DE
PTH,
MA
Y C
AUS
E DA
MA
GE.
3.N
o th
read
s pre
sent
first
13m
m o
f int
erfa
ce.
4.Fo
r bes
t acc
urac
y, tr
ansd
ucer
mus
t be
mou
nted
to su
rface
s rig
id e
noug
h5.
to su
ppor
t loa
ds w
ithou
t def
lect
ion.
Rev.
Des
crip
tion
Initi
ator
Dat
e
08Ec
o 78
82; C
hang
ed d
owel
hol
e d
epth
on
cust
omer
in
terfa
ce fr
om 1
2 to
10;
Ad
ded
B.C
. 100
dim
ensio
n.
Upd
ated
Not
es a
nd T
itle
Bloc
k.C
F7/
19/2
010
B1:
21
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
B. D
iges
o 3/
7/00
D. N
orto
n 7/
15/0
5
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-10
93-
08
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Om
ega1
60 M
ux w
ithou
t Mou
ntin
g A
dapt
er P
late
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com160
5.16.12 Omega160 Transducer with 53mmThroughHole
3rd
AN
GLE
PRO
JEC
TION
38.
6
8.9
45°
96
Cus
tom
er m
achi
nes
mou
ntin
g pa
ttern
as
need
ed in
pla
te.
Rem
ove
plat
e pr
ior
to m
achi
ning
.
MO
UN
TIN
G S
IDE
+Y-Y
-X+X 4
3.9
55.
9
15
6.5
19.
4
SID
E V
IEW
+Z-Z
Mou
ntin
gA
dapt
erP
late
Tool
Ada
pter
Pla
te
Sen
sing
Ref
eren
ceFr
ame
Orig
in
15°
53
Thru
(See
Not
es 3
& 5
)
45°
2X
10 S
lip F
it 10
Cus
tom
er In
terfa
ce(S
ee N
ote
2)
TOO
L S
IDE
Sen
sing
Ref
eren
ceFr
ame
Orig
in
4X T
ap M
10 x
1.5
10
B.C
. 10
0E
qual
ly S
pace
dC
usto
mer
Inte
rface
(See
Not
e 2)
Rig
ht A
ngle
Con
nect
or-X
+Y
+X
-Y
ISO
ME
TRIC
VIE
W
Not
es: Mat
eria
l: H
arde
ned
Sta
inle
ss S
teel
and
Alu
min
um.
1.D
O N
OT
EXC
EED
INTE
RFA
CE
DEP
TH, M
AY
CA
USE
DA
MA
GE.
2.D
o no
t tou
ch in
tern
al e
lect
roni
cs o
r ins
trum
enta
tion.
Thi
s co
uld
3.da
mag
e th
e tra
nsdu
cer a
nd w
ill v
oid
war
rant
y.Fo
r bes
t acc
urac
y, tr
ansd
ucer
mus
t be
mou
nted
to a
sur
face
rigi
d 4.
enou
gh to
sup
port
load
s w
ithou
t def
lect
ion.
Do
not a
llow
item
s pa
ssin
g th
roug
h ce
nter
hol
e to
con
tact
tran
sduc
er.
5.C
onta
ct w
ill a
ffect
read
ing
accu
racy
.
Rev.
Des
crip
tion
Initi
ator
Dat
e
05Ec
o 16
115;
Rem
oved
pre
ss fi
t dow
el c
allo
ut.
LJH
1/9/
2018
B1:
21
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
L. F
ishe
r, 12
/13/
11
R. C
ham
bers
, 12/
14/1
1
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-14
1211
1025
-105
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
TIF
Om
ega1
60 T
rans
duce
r with
53m
m T
hru
Hol
e
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com161
5.16.13 Omega160 Transducer with Mounting Adapter Drawing
3rd
AN
GLE
PRO
JEC
TION
96D
AQ
Sys
tem
38.6
DA
Q S
yste
m
44.8
Net
Sys
tem
96.6
Net
Sys
tem
45°
+X
-Y
-X
ISO
MET
RIC
VIE
W
TOO
L SI
DE
SID
E VI
EW
MO
UN
TIN
G S
IDE
Not
es: M
ater
ial:
Har
dene
d St
ainl
ess
Stee
l and
Alu
min
um1.
Do
not t
ouch
inte
rnal
ele
ctro
nics
or i
nstru
men
tatio
n.2.
This
cou
ld d
amag
e th
e tra
nsdu
cer a
nd w
ill vo
id th
e w
arra
nty.
DO
NO
T EX
CEE
D IN
TER
FAC
E D
EPTH
, MA
Y C
AU
SE D
AM
AG
E.3.
For b
est a
ccur
acy,
tran
sduc
er m
ust b
e m
ount
ed to
sur
face
s rig
id e
noug
h4.
to s
uppo
rt lo
ads
with
out d
efle
ctio
n.
Cus
tom
er m
achi
nes
mou
ntin
g pa
ttern
in
plat
e as
nee
ded.
Rem
ove
plat
e pr
ior
to m
achi
ning
.
43.9
156.
5
55.9
14.7
DA
Q S
yste
m19
.1N
et S
yste
m
12.2
+Y-Z
+Z
Mou
ntin
gAd
apte
rPl
ate
Sens
ing
Ref
eren
ceFr
ame
Orig
in
Tool
Ada
pter
Pla
te
B.C
.10
0
40 H
7 10
Cus
tom
er In
terfa
ce(S
ee N
ote
3) 5
0±0.
013
10 S
lip F
it 10
Cus
tom
er In
terfa
ce(S
ee N
ote
3)+X
-Y
-X
+Y
(4) T
ap M
10 x
1.5
10E
qual
ly S
pace
dC
usto
mer
Inte
rface
(S
ee N
ote
3)
Sens
ing
Ref
eren
ceFr
ame
Orig
in
Rev.
Des
crip
tion
Initi
ator
Dat
e
09Ec
o 78
82; C
hang
ed T
ap h
ole
size
on c
usto
mer
in
terfa
ce h
oles
from
M12
to M
10. U
pdat
ed N
otes
. Up
dat
ed T
itle
Bloc
k.C
F7/
19/2
010
10Ec
o 15
263;
Elim
inat
ed lim
it d
im o
n 10
mm
dow
el
callo
ut.
LJH
1/24
/201
7
B1:
21
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
J.Sn
ape
1/9/
02
DP
1/9/
02
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-11
31
10
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Om
ega1
60 D
AQ/N
et w
/ Mtg
Ada
pter
Pla
te
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com162
5.16.14 Omega160 IP60 Transducer Drawing
B.C
. 12
5
15°
15°
60°
120°
124
(2)
10 S
lip F
it 10
Cus
tom
er In
terfa
ce
Sid
e P
atte
rnO
ptio
nal M
ount
ing
Cus
tom
er In
terfa
ceFo
r M8
SH
CS
(14)
8
.7 T
hru
B.C
.18
0
(2)
8 S
lip F
it 12
Cus
tom
er In
terfa
ce
15°
135°
60.3
70±0
.025
16.1
76±0
.025
76.5
47±0
.025
76.5
47±0
.025
45.0
02±0
.025
77.9
47±0
.025
131.
941±
0.02
5
101.
242±
0.02
5
45° T
yp
8° T
yp
45°
57.8
Mux
& D
AQ
S
yste
m
70.4
Net
Sys
tem
+X
-Y
-X
+Y
(6) T
ap M
10x1
.5
10E
qual
ly S
pace
dC
usto
mer
Inte
rface
Con
nect
or F
or
Cab
le V
arie
s D
epen
ding
on
Sen
sor S
elec
ted
57.7
357
Mou
ntin
g A
dapt
er P
late
Neo
pren
eR
ubbe
r D
ust J
acke
t
-Z+Z
Tool
Ada
pter
Pla
te
Sen
sing
Ref
eren
ceFr
ame
Orig
in
B.C
. 10
0
10 S
lip F
it 11
Cus
tom
er In
terfa
ce
50±0
.025
40 H
7f
12C
usto
mer
Inte
rface
156.
5
193.
7
+x -X
-Y+Y
(4) T
ap M
10 x
1.5
15E
qual
ly S
pace
dC
usto
mer
Inte
rface
Sen
sing
Ref
eren
ceFr
ame
Orig
in
Not
es:
1. M
ater
ial:
Sta
inle
ss S
teel
and
Alu
min
um2.
Sen
sing
Ref
eren
ce F
ram
e O
rigin
at S
urfa
ce C
ente
r of T
ool A
dapt
er.
3. D
o no
t tou
ch in
tern
al e
lect
roni
cs o
r ins
trum
enta
tion.
Thi
s co
uld
dam
age
the
trans
duce
r and
will
voi
d w
arra
nty.
4. F
or b
est a
ccur
acy,
tran
sduc
er m
ust b
e m
ount
ed to
sur
face
s rig
id
e
noug
h to
sup
port
load
s w
ithou
t def
lect
ion.
ISO
ME
TRIC
VIE
W
TOO
L S
IDE
SID
E V
IEW
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539,
USA
Tel: +
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115
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fo@ati
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72.82
59
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1
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Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com163
5.16.15 ECAT Omega160 IP60 Transducer Drawing
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GLE
PRO
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SIZE
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R
PRO
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T #
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dwor
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NC 27
539,
USA
Tel: +
1.919
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115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
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ISO
9001
Reg
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ompa
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ECAT
Om
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60 T
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Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com164
3rd
AN
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PRO
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ALE
SIZE
DRA
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1031
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Tel: +
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115
Em
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fo@ati
-ia.co
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72.82
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.com
ISO
9001
Reg
ister
ed C
ompa
ny
ECAT
Om
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Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com165
5.16.16 Omega160 IP65 Transducer Drawing
B.C
. 12
5
120°
165
Cus
tom
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terfa
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qual
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d(6
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45°
15°
117.
5N
et S
yste
m
70.5
Net
Sys
tem
Mem
bran
e Ve
nt
Not
es:
1. M
ater
ial:
Stai
nles
s St
eel
2. S
ensi
ng R
efer
ence
Fra
me
Orig
in a
t
sur
face
cen
ter o
f Too
l Ada
pter
.3.
Do
not d
isas
sem
ble
trans
duce
r. D
oing
so
c
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duce
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will
void
war
rant
y.4.
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bes
t acc
urac
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ansd
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mus
t be
mou
nted
to
s
urfa
ces
rigid
eno
ugh
to s
uppo
rt lo
ads
with
out d
efle
ctio
n.
5. C
able
mus
t be
conn
ecte
d to
tran
sduc
er to
mai
ntai
n pr
oper
sea
l.6.
Cab
le is
IP65
rate
d on
ly a
t tra
nsdu
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nd.
Con
nect
or fo
r Cab
leV
arie
s D
epen
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on
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sor S
elec
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15.2
444
.2065
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ing
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ame
Orig
in
-Z+Z
Mou
ntin
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dapt
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Pla
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te
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0
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5
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7 20
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tom
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Slip
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50±0
.025
45°
157.
5
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ame
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MET
RIC
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W
MO
UN
TIN
G S
IDE
SID
E VI
EWTO
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SID
E
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-Y+Y
-Y
+X -X
+X
Rev.
Des
crip
tion
Initi
ator
Dat
e
01In
itial
Issu
ePS
2/16
/200
6
02A
dd
ed N
et D
imen
sions
ALH
8/8/
2008
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
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72.82
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.com
ISO
9001
Reg
ister
ed C
ompa
ny
NO
TES:
UN
LESS
O
THER
WIS
E SP
ECIF
IED
DO
NO
T SC
ALE
DRA
WIN
G.
DRA
WN
IN S
OLID
WO
RKS.
ALL
DIM
ENSI
ON
S A
RE IN
MILL
IMET
ERS.
3rd
AN
GLE
PRO
JEC
TION
DRA
WN
BY:
CHE
CKE
D B
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WEI
GHT
LBS
:
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EMBL
Y RE
F:
P.Sp
arro
w, 2
/16/
06
D.N
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n, 2
/17/
06
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
DUC
T RE
LEA
SE #
DA
TE:
SHEE
T
OF
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C.
NO
T TO
BE
REPR
OD
UCED
IN A
NY
MA
NN
ER E
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T O
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RDER
OR
WITH
PRI
OR
WRI
TTEN
AUT
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N O
F A
TI.
IP65
Om
ega1
60 T
rans
duce
r
9230
-05-
1269
-02
B1:
1.5
11
16
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com166
5.16.17 Omega160 IP68 Transducer Drawing
15°
60°
Typ
165
124.
5
(2)
10 H
7,
10C
usto
mer
Inte
rface
Cus
tom
er In
terfa
ce
(6) T
AP
M8X
1.25
1
2.7
Equ
ally
Spa
ced
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5
60.3
70±0
.012
76.5
47±0
.012
76.5
47±0
.012
16.1
76±0
.012
61
120°
[ref]
15°
[ref]
NO
TES:
1. M
ATER
IAL:
Sta
inle
ss S
teel
2. S
ensi
ng R
efer
ence
fram
e or
igin
at
s
urfa
ce c
ente
r of t
ool a
dapt
er.
3. D
o no
t dis
asse
mbl
e tra
nsdu
cer.
Doi
ng s
o
cou
ld d
amag
e tra
nsdu
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nd v
oid
war
rant
y.4.
For
bes
t acc
urac
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ansd
ucer
mus
t be
m
ount
ed to
sur
face
s rig
id e
noug
h to
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port
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ads
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out d
efle
ctio
n.
5. C
able
mus
t be
conn
ecte
d to
Tra
nsdu
cer t
o
mai
ntai
n pr
oper
sea
l.6.
Cab
le is
onl
y IP
68 ra
ted
at T
rans
duce
r End
.
Tra
nsdu
cer i
s IP
68 ra
ted
in fr
eshw
ater
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a
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p to
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or fo
r Cab
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ries
Dep
endi
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nSe
nsor
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ecte
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65.9
44.2
15.26.
2157.
5
Sens
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Ref
eren
ceFr
ame
Orig
in
-Z+Z
40 H
7,
20C
usto
mer
Inte
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10 H
7,
16C
usto
mer
Inte
rface
Cus
tom
er In
terfa
ce
(4) T
AP
M10
X1.
5 1
5.2
Equ
ally
Spa
ced
B.C
. 10
0
45°
Typ
49.9
990.
012
Sens
ing
Ref
eren
ceFr
ame
Orig
in
ISO
MET
RIC
VIE
W
MO
UN
TIN
G S
IDE
SID
E VI
EWTO
OL
SID
E
+Y
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-Y+Y
-Y
+X -X
+X
Rev.
Des
crip
tion
Initi
ator
Dat
e
02Up
dat
ed m
odel
link.
PS3/
4/20
06
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
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72.82
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.com
ISO
9001
Reg
ister
ed C
ompa
ny
3rd
AN
GLE
PRO
JEC
TION
ASS
EMBL
Y RE
F:
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
DUC
T RE
LEA
SE #
DA
TE:
SHEE
T
OF
IP68
-10m
OM
EGA1
60 T
rans
duce
r
9230
-05-
1274
-02
B1:
1.5
11
NO
TES:
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LESS
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3rd
AN
GLE
PRO
JEC
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EMBL
Y RE
F:
TITLE SC
ALE
SIZE
DRA
WIN
G N
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R
PRO
DUC
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DA
TE:
SHEE
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IP68
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60 T
rans
duce
r
B1:
1.5
11
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
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72.82
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www
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.com
ISO
9001
Reg
ister
ed C
ompa
ny
NO
TES:
UN
LESS
OTH
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ISE
SPEC
IFIE
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T SC
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WIN
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GLE
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:
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EMBL
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P.Sp
arro
w, 2
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D. N
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/17/
06
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
DUC
T RE
LEA
SE #
DA
TE:
SHEE
T
OF
IP68
-10m
OM
EGA1
60 T
rans
duce
r
9230
-05-
1274
-02
B1:
1.5
11
16
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C.
NO
T TO
BE
REPR
OD
UCED
IN A
NY
MA
NN
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XCEP
T O
NO
RDER
OR
WITH
PRI
OR
WRI
TTEN
AUT
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N O
F A
TI.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com167
5.17 Omega190Specifications(IncludesIP60/IP65/IP68Versions)5.17.1 Omega190 Physical Properties
Table 4.95—Omega190 Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±8000 lbf ±36000 NFz ±25000 lbf ±110000 NTxy ±60000 lbf-in ±6800 NmTz ±60000 lbf-in ±6800 NmStiffness(Calculated)X-axis&Y-axisforces(Kx,Ky) 1.4x106 lb/in 2.4x108 N/mZ-axisforce(Kz) 2.1x106 lb/in 3.6x108 N/mX-axis&Y-axistorque(Ktx,Kty) 1.4x107 lbf-in/rad 1.5x106 Nm/radZ-axistorque(Ktz) 2.8x107 lbf-in/rad 3.2x106 Nm/radResonant FrequencyFx, Fy, Tz N/A N/AFz, Tx, Ty N/A N/A PhysicalSpecificationsWeight1 14 lb 6.35 kgDiameter1 7.48 in 190 mmHeight1 2.2 in 55.9 mmNote:
1. Specificationsincludestandardinterfaceplates.
5.17.2 Omega190 IP60 Physical PropertiesTable 4.96—Omega190 IP60 Physical Properties
Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±8000 lbf ±36000 NFz ±25000 lbf ±110000 NTxy ±60000 lbf-in ±6800 NmTz ±60000 lbf-in ±6800 NmStiffness(Calculated)X-axis&Y-axisforces(Kx,Ky) 1.4x106 lb/in 2.4x108 N/mZ-axisforce(Kz) 2.1x106 lb/in 3.6x108 N/m
X-axis&Y-axistorque(Ktx,Kty) 1.4x107 lbf-in/rad 1.5x106 Nm/radZ-axistorque(Ktz) 2.8x107 lbf-in/rad 3.2x106 Nm/radResonant FrequencyFx, Fy, Tz 1200 Hz 1200 HzFz, Tx, Ty 1200 Hz 1200 HzPhysicalSpecificationsWeight1 31 lb 14.1 kgDiameter1 9.37 in 238 mmHeight1 2.9 in 73.7 mmNote:
1. Specificationsincludestandardinterfaceplates.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com168
5.17.3 Omega190 IP65/IP68 Physical PropertiesTable 4.97—Omega190 IP65/IP68 Physical Properties
Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±8000 lbf ±36000 NFz ±25000 lbf ±110000 NTxy ±60000 lbf-in ±6800 NmTz ±60000 lbf-in ±6800Nm)Stiffness(Calculated)X-axis&Y-axisforces(Kx,Ky) 1.4x106 lb/in 2.4x108N/m)Z-axisforce(Kz) 2.1x106 lb/in 3.6x108 N/mX-axis&Y-axistorque(Ktx,Kty) 1.4x107 lbf-in/rad 1.5x106 Nm/radZ-axistorque(Ktz) 2.8x107 lbf-in/rad 3.2x106 Nm/radResonant FrequencyFx, Fy, Tz 1400 Hz 1400 HzFz, Tx, Ty 980 Hz 980 HzPhysicalSpecificationsWeight1 29 lb 13.2 kgDiameter1 8.03 in 204 mmHeight1 2.94 in 74.8 mmNote:
1. Specificationsincludestandardinterfaceplates.
CAUTION: When submerged, IP68 transducers exhibit a decrease in Fz range related to the submersion depth. This loss is the result of pressure-induced preloading on the transducer. The preload can be masked by biasing the transducer at the depth prior to applying the load to be measured. The following estimates are for room temperature fresh water at sea level.
Submersion DepthIP68 Omega190 US MetricFz preload at 10 m depth 661 lb 2941 NFz preload at other depths -20 lb/ft × depthInFeet -294 N/m × depthInMeters
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com169
5.17.4 CalibrationSpecifications(excludesCTLcalibrations)Table 4.98—Omega190Calibrations(excludesCTLcalibrations)1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Omega190 US-400-3000 400 1000 3000 3000 5/64 5/32 15/32 5/16Omega190 US-800-6000 800 2000 6000 6000 5/32 5/16 15/16 5/8Omega190 US-1600-12000 1600 4000 12000 12000 5/16 5/8 1 7/8 1 1/4
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Omega190 SI-1800-350 1800 4500 350 350 3/8 3/4 5/96 5/144Omega190 SI-3600-700 3600 9000 700 700 3/4 1 1/2 5/48 5/72Omega190 SI-7200-1400 7200 18000 1400 1400 1 1/2 3 5/24 5/36
Sensing Ranges Resolution(DAQ,NetF/T)4
Notes:1. These system resolutions quoted are the effective resolution after dropping four counts of noise. The effective
resolutioncanbeimprovedwithfiltering.2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. For IP68 version see caution on physical properties page.4. DAQ resolutions are typical for a 16-bit data acquisition system.
5.17.5 CTL CalibrationSpecificationsTable 4.99— Omega190 CTL Calibrations1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Omega190 US-400-3000 400 1000 3000 3000 5/32 5/16 15/16 5/8Omega190 US-800-6000 800 2000 6000 6000 5/16 5/8 1 7/8 1 1/4Omega190 US-1600-12000 1600 4000 12000 12000 5/8 1 1/4 3 3/4 2 1/2
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Omega190 SI-1800-350 1800 4500 350 350 3/4 1 1/2 5/48 5/72Omega190 SI-3600-700 3600 9000 700 700 1 1/2 3 5/24 5/36Omega190 SI-7200-1400 7200 18000 1400 1400 3 6 5/12 5/18
Sensing Ranges Resolution(Controller)Notes:
1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight counts of noise.Theeffectiveresolutioncanbeimprovedwithfiltering.
2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly. 3. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com170
5.17.6 CTL Analog OutputTable 4.100— Omega190 Analog Output
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz2 (lbf)
Tx,Ty,Tz (lbf-in)
Fx,Fy (lbf/V)
Fz2 (lbf/V)
Tx,Ty,Tz (lbf-in/V)
Omega190 US-400-3000 ±400 ±1000 ±3000 40 100 300Omega190 US-800-6000 ±800 ±2000 ±6000 80 200 600Omega190 US-1600-12000 ±1600 ±4000 ±12000 160 400 1200
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz2 (N)
Tx,Ty,Tz (Nm)
Fx,Fy (N/V)
Fz2 (N/V)
Tx,Ty,Tz (Nm/V)
Omega190 SI-1800-350 ±1800 ±4500 ±350 180 450 35Omega190 SI-3600-700 ±3600 ±9000 ±700 360 900 70Omega190 SI-7200-1400 ±7200 ±18000 ±1400 720 1800 140
Analog Output Range Analog±10VSensitivity1
Notes:1. ±5V Sensitivity values are double the listed ±10V Sensitivity values.2. For IP68 version see caution on physical properties page.
5.17.7 CTLCountsValue
Table 4.101—CountsValue
Sensor Calibration Fx,Fy,Fz (/lbf)
Tx,Ty,Tz (/lbf-in)
Fx,Fy,Fz (/N)
Tx,Ty,Tz (/Nm)
Omega190 US-400-3000/SI-1800-350 153.6 307.2 32 230.4Omega190 US-800-6000/SI-3600-700 76.8 153.6 16 115.2Omega190 US-1600-12000/SI-7200-1400 38.4 76.8 8 57.6Omega190 Tool Transform Factor 0.005 in/lbf 1.3889 mm/N
CountsValue–Standard(US) CountsValue–Metric(SI)
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com171
5.17.8 Omega190(USCalibrationComplexLoading) (IncludesIP60/IP65/IP68)1
US-400-3000 US-800-6000 US-1600-12000
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com172
5.17.9 Omega190(SICalibrationComplexLoading) (IncludesIP60/IP65/IP68)1
SI-1800-350 SI-3600-700 SI-7200-1400
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com173
5.17.10 Omega190DAQ/NetTransducer Drawing
3rd
AN
GLE
PRO
JEC
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ISO
MET
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2X
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Cus
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TITLE SC
ALE
SIZE
DRA
WIN
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R
PRO
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T #
SHEE
T
O
F 92
30-0
5-10
9515
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EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
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ed C
ompa
ny
Om
ega1
90 D
AQ/N
et T
rans
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r
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com174
5.17.11 Omega190 IP60 Transducer Drawing
B.C
.14
0
70.0
02±0
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119.
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5
49.4
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10 S
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Not
es:
1. M
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Sta
inle
ss S
teel
and
Alu
min
um2.
Do
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inte
rnal
ele
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nics
or i
nstru
men
tatio
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T
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coul
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Equ
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qual
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Rev.
Des
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Initi
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Dat
e
03A
dd
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ALH
8/7/
2008
04Ec
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55; D
im fr
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limit
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blo
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chan
ged
to 1
41.5
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co
mpo
nent
cha
nges
.LJ
H9/
4/20
09
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
NO
TES:
UN
LESS
O
THER
WIS
E SP
ECIF
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DO
NO
T SC
ALE
DRA
WIN
G.
DRA
WN
IN S
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ALL
DIM
ENSI
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S A
RE
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3rd
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PRO
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WN
BY:
CHE
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D B
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WEI
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:
ASS
EMBL
Y RE
F:
P.Sp
arro
w, 2
/16/
06
D.N
orto
n, 2
/17/
06
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
DUC
T RE
LEA
SE #
DA
TE:
SHEE
T
OF
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
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TION
, IN
C.
NO
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WITH
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OR
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F A
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IP60
Om
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90 T
rans
duce
r
9230
-05-
1265
-04
B1:
21
1
31
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com175
5.17.12 Omega190 IP65 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
ISO
MET
RIC
VIE
W
70.0
02±0
.025
119.
502±
0.02
5
142.
9M
ux a
nd D
AQ
Sys
tem
204
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Sys
tem
135.
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et S
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m
70.7
Net
Sys
tem
49.
500±
0.02
5
5X
22.
5°
5X
22.
5°
22.
5°
22.
5°
B.C
. 14
0
Con
nect
or fo
r Cab
leV
arie
s D
epen
ding
on
Sen
sor S
elec
ted
+X
-X
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MO
UN
TIN
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IDE
2X
10 S
lip F
it 1
1C
usto
mer
Inte
rface
12X
Tap
M8
X 1
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12
Cus
tom
er In
terfa
ce
44.5
27.92.
4
74.8
-Z
Sens
ing
Ref
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ame
Orig
in
+Z
SID
E V
IEW
Tool
Ada
pter
P
late
Mou
ntin
g A
dapt
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late
75.1
97±0
.025
57.1
7557
.125
2
0C
usto
mer
Inte
rface
B.C
. 15
0.4
2X
30°
2
X 3
0°
30°
3
0°
Sens
ing
Ref
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ame
Orig
in
+X
+Y
-X
-Y
TOO
L S
IDE
8X T
ap M
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1.7
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2C
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Inte
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10 S
lip F
it 1
6C
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mer
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Not
es: Mat
eria
l: S
tain
less
Ste
el1.
Sen
sing
Ref
eren
ce F
ram
e O
rigin
at s
urfa
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r of T
ool
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dapt
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Do
not d
isas
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ble
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duce
r. D
oing
so
coul
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mag
e 3.
trans
duce
r and
will
voi
d w
arra
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For b
est a
ccur
acy,
tran
sduc
er m
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e m
ount
ed to
a s
urfa
ce
4.rig
id e
noug
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port
load
s w
ithou
t def
lect
ion.
C
able
mus
t be
conn
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tran
sduc
er to
mai
ntai
n pr
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5.
seal
.C
able
is o
nly
IP68
rate
d on
ly a
t tra
nsdu
cer e
nd.
Tran
sduc
er
6.is
IP68
rate
d in
fres
hwat
er e
nviro
nmen
t at a
dep
th o
f up
to
10 m
eter
s.
Rev.
Des
crip
tion
Initi
ator
Dat
e
B1:
21
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
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CHE
CKE
D B
Y:
L. F
ishe
r, 7/
29/2
014
E. B
radf
ord,
7/3
0/20
14
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-14
7114
0627
-101
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP65
Om
ega1
91 T
rans
duce
r
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com176
5.17.13 Omega190 IP68 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
ISO
MET
RIC
VIE
W
70.0
02±0
.025
119.
502±
0.02
5
142.
9M
ux a
nd D
AQ
Sys
tem
204
63M
ux a
nd D
AQ
Sys
tem
135.
9N
et S
yste
m
70N
et S
yste
m
49.
500±
0.02
5
5X
22.
5°
5X
22.
5°
22.
5°
22.
5°
B.C
. 14
0
Con
nect
or fo
r Cab
leV
arie
s D
epen
ding
on
Sen
sor S
elec
ted
+X
-X
+Y-Y
MO
UN
TIN
G S
IDE
2X
10 S
lip F
it 1
1C
usto
mer
Inte
rface
12X
Tap
M8
X 1
.25
12
Cus
tom
er In
terfa
ce
44.5
27.92.
4
74.8
-Z
Sens
ing
Ref
eren
ceFr
ame
Orig
in
+Z
SID
E V
IEW
Tool
Ada
pter
P
late
Mou
ntin
g A
dapt
erP
late
75.1
97±0
.025
57.1
7557
.125
2
0C
usto
mer
Inte
rface
B.C
. 15
0.4
2X
30°
2
X 3
0°
30°
3
0°
Sens
ing
Ref
eren
ceFr
ame
Orig
in
+X
+Y
-X
-Y
TOO
L S
IDE
8X T
ap M
12 X
1.7
5 1
2C
usto
mer
Inte
rface
10 S
lip F
it 1
6C
usto
mer
Inte
rface
Not
es: Mat
eria
l: S
tain
less
Ste
el1.
Sen
sing
Ref
eren
ce F
ram
e O
rigin
at s
urfa
ce c
ente
r of T
ool
2.A
dapt
er.
Do
not d
isas
sem
ble
trans
duce
r. D
oing
so
coul
d da
mag
e 3.
trans
duce
r and
will
voi
d w
arra
nty.
For b
est a
ccur
acy,
tran
sduc
er m
ust b
e m
ount
ed to
a s
urfa
ce
4.rig
id e
noug
h to
sup
port
load
s w
ithou
t def
lect
ion.
C
able
mus
t be
conn
ecte
d to
tran
sduc
er to
mai
ntai
n pr
oper
5.
seal
.C
able
is o
nly
IP68
rate
d on
ly a
t tra
nsdu
cer e
nd.
Tran
sduc
er
6.is
IP68
rate
d in
fres
hwat
er e
nviro
nmen
t at a
dep
th o
f up
to
10 m
eter
s.
Rev.
Des
crip
tion
Initi
ator
Dat
e
B1:
21
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
L. F
ishe
r, 7/
17/2
014
E. B
radf
ord,
7/3
0/20
14
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-14
7214
0627
-101
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP68
-10m
Om
ega1
91 T
rans
duce
r
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com177
5.18 Omega191Specifications(IncludesIP60/IP65/IP68Versions)5.18.1 Omega191 Physical Properties
Table 4.102—Omega191 Physical PropertiesSingle-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±8000 lbf ±36000 NFz ±25000 lbf ±110000 NTxy ±60000 inf-lb ±6800 NmTz ±60000 inf-lb ±6800 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 1.4x106 lb/in 2.4x108 N/m Z-axisforce(Kz) 2.1x106 lb/in 3.6x108 N/m X-axis&Y-axistorque(Ktx,Kty) 1.4x107 lbf-in/rad 1.5x106 Nm/rad Z-axistorque(Ktz) 2.8x107 lbf-in/rad 3.2x106 Nm/rad Resonant Frequency Fx, Fy, Tz N/A N/AFz, Tx, Ty N/A N/APhysicalSpecifications Weight1 20.8 lb 9.41 kgDiameter1 7.48 in 190 mmHeight1 2.52 in 64 mmNote:
1. Specificationsincludestandardinterfaceplates.
5.18.2 Omega191 IP60 Physical PropertiesTable 4.103—Omega191 IP60 Physical Properties
Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±8000 lbf ±36000 NFz ±25000 lbf ±110000 NTxy ±60000 inf-lb ±6800 NmTz ±60000 inf-lb ±6800 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 1.4x106 lb/in 2.4x108 N/m Z-axisforce(Kz) 2.1x106 lb/in 3.6x108 N/m X-axis&Y-axistorque(Ktx,Kty) 1.4x107 lbf-in/rad 1.5x106 Nm/rad Z-axistorque(Ktz) 2.8x107 lbf-in/rad 3.2x106 Nm/rad Resonant Frequency Fx, Fy, Tz 1200 Hz 1200 HzFz, Tx, Ty 1200 Hz 1200 HzPhysicalSpecifications Weight1 31 lb 14.1 kgDiameter1 9.37 in 238 mmHeight1 2.9 in 73.7 mmNote:
1. Specificationsincludestandardinterfaceplates.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com178
5.18.3 Omega191 IP65/IP68 Physical PropertiesTable 4.104—Omega191 IP65/IP68 Physical Properties
Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±8000 lbf ±36000 NFz ±25000 lbf ±110000 NTxy ±60000 inf-lb ±6800 NmTz ±60000 inf-lb ±6800 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 1.4x106 lb/in 2.4x108 N/m Z-axisforce(Kz) 2.1x106 lb/in 3.6x108 N/m X-axis&Y-axistorque(Ktx,Kty) 1.4x107 lbf-in/rad 1.5x106 Nm/rad Z-axistorque(Ktz) 2.8x107 lbf-in/rad 3.2x106 Nm/rad Resonant Frequency Fx, Fy, Tz 1400 Hz 1400 HzFz, Tx, Ty 980 Hz 980 HzPhysicalSpecifications Weight1 29 lb 13.2 kgDiameter1 8.03 in 204 mmHeight1 2.94 in 74.8 mmNote:
1. Specificationsincludestandardinterfaceplates.
CAUTION: When submerged, IP68 transducers exhibit a decrease in Fz range related to the submersion depth. This loss is the result of pressure-induced preloading on the transducer. The preload can be masked by biasing the transducer at the depth prior to applying the load to be measured. The following estimates are for room temperature fresh water at sea level.
Submersion DepthIP68 Omega191 US MetricFz preload at 10 m depth 661 lb 2941 NFz preload at other depths -20 lb/ft × depthInFeet -294 N/m × depthInMeters
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com179
5.18.4 CalibrationSpecifications(excludesCTLcalibrations)Table 4.105—Omega191Calibrations(excludesCTLcalibrations)1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Omega191 US-400-3000 400 1000 3000 3000 5/64 5/32 15/32 5/16Omega191 US-800-6000 800 2000 6000 6000 5/32 5/16 15/16 5/8Omega191 US-1600-12000 1600 4000 12000 12000 5/16 5/8 1 7/8 1 1/4
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Omega191 SI-1800-350 1800 4500 350 350 3/8 3/4 5/96 5/144Omega191 SI-3600-700 3600 9000 700 700 3/4 1 1/2 5/48 5/72Omega191 SI-7200-1400 7200 18000 1400 1400 1 1/2 3 5/24 5/36
Sensing Ranges Resolution(DAQ,NetF/T)4
Notes:1. These system resolutions quoted are the effective resolution after dropping four counts of noise. The effective
resolutioncanbeimprovedwithfiltering.2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. For IP68 version see caution on physical properties page.4. DAQ resolutions are typical for a 16-bit data acquisition system.
5.18.5 CTL CalibrationSpecificationsTable 4.106— Omega191 CTL Calibrations1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Omega191 US-400-3000 400 1000 3000 3000 5/32 5/16 15/16 5/8Omega191 US-800-6000 800 2000 6000 6000 5/16 5/8 1 7/8 1 1/4Omega191 US-1600-12000 1600 4000 12000 12000 5/8 1 1/4 3 3/4 2 1/2
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Omega191 SI-1800-350 1800 4500 350 350 3/4 1 1/2 5/48 5/72Omega191 SI-3600-700 3600 9000 700 700 1 1/2 3 5/24 5/36Omega191 SI-7200-1400 7200 18000 1400 1400 3 6 5/12 5/18
Sensing Ranges Resolution(Controller)Notes:
1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight counts of noise.Theeffectiveresolutioncanbeimprovedwithfiltering.
2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com180
5.18.6 CTL Analog OutputTable 4.107— Omega191 Analog Output
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz2 (lbf)
Tx,Ty,Tz (lbf-in)
Fx,Fy (lbf/V)
Fz2 (lbf/V)
Tx,Ty,Tz (lbf-in/V)
Omega191 US-400-3000 ±400 ±1000 ±3000 40 100 300Omega191 US-800-6000 ±800 ±2000 ±6000 80 200 600Omega191 US-1600-12000 ±1600 ±4000 ±12000 160 400 1200
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz2 (N)
Tx,Ty,Tz (Nm)
Fx,Fy (N/V)
Fz2 (N/V)
Tx,Ty,Tz (Nm/V)
Omega191 SI-1800-350 ±1800 ±4500 ±350 180 450 35Omega191 SI-3600-700 ±3600 ±9000 ±700 360 900 70Omega191 SI-7200-1400 ±7200 ±18000 ±1400 720 1800 140
Analog Output Range Analog±10VSensitivity1
Notes:1. ±5V Sensitivity values are double the listed ±10V Sensitivity values.2. For IP68 version see caution on physical properties page.
5.18.7 CTLCountsValue
Table 4.108—CountsValue
Sensor Calibration Fx,Fy,Fz (/lbf)
Tx,Ty,Tz (/lbf-in)
Fx,Fy,Fz (/N)
Tx,Ty,Tz (/Nm)
Omega191 US-400-3000/SI-1800-350 153.6 307.2 32 230.4Omega191 US-800-6000/SI-3600-700 76.8 153.6 16 115.2Omega191 US-1600-12000/SI-7200-1400 38.4 76.8 8 57.6Omega191 Tool Transform Factor 0.005 in/lbf 1.3889 mm/N
CountsValue–Standard(US) CountsValue–Metric(SI)
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com181
5.18.8 Omega191(USCalibrationComplexLoading) (IncludesIP60/IP65/IP68)1
HelpOmega191
US-400-3000 US-800-6000 US-1600-12000
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com182
5.18.9 Omega191(SICalibrationComplexLoading) (IncludesIP60/IP65/IP68)1
HelpOmega191
SI-1800-350 SI-3600-700 SI-7200-1400
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com183
5.18.10 Omega191DAQ/NetTransducer Drawing
3rd
AN
GLE
PRO
JEC
TION
75.
197±
0.02
5
2X
30°
8X T
ap M
12X
1.75
16
Cus
tom
er In
terfa
ce(S
ee N
ote
2)
10 S
lip F
it 1
5C
usto
mer
Inte
rface
2X
30°
30°
3
0°
B.C
.15
0.4
57.1
7557
.125
10
1.0
x 45
Cha
mfe
rC
usto
mer
Inte
rface
(See
Not
e 2)
Sen
sing
Ref
eren
ceFr
ame
Orig
in
TOO
L S
IDE
-X
+Y-Y
+X 6
4
19
0
23.4
Net
Sys
tem
19D
AQ
Sys
tem
Sen
sing
Ref
eren
ceFr
ame
Orig
in
Tool
Ada
pter
Pla
te
Mou
ntin
gA
dapt
erP
late
SID
E V
IEW
+Z-Z
49.
497±
0.02
5
70±
0.02
5
119
.497
±0.0
25
2X
10 S
lip F
it 10
Cus
tom
er In
terfa
ce
113.
4N
et S
yste
m
44.8
Net
Sys
tem
38.6
DA
Q S
yste
m
12X
Tap
M8X
1.25
12
Cus
tom
er In
terfa
ce(S
ee N
ote
2)
22.5
°Ty
p. 2
2.5°
B.C
. 14
0
45°
11
2.8
DA
Q S
yste
m
MO
UN
TIN
G S
IDE
-X+X
-Y+Y
ISO
ME
TRIC
VIE
W
Not
es:
Mat
eria
l: H
arde
ned
Ste
el a
nd S
tain
less
Ste
el1.
DO
NO
T EX
CEE
D IN
TER
FAC
E D
EPTH
, MA
Y C
AU
SE D
AM
AG
E2.
Do
not d
isas
sem
ble
trans
duce
r. D
oing
so
coul
d da
mag
e tra
nsdu
cer a
nd w
ill
3.vo
id th
e w
arra
nty.
For b
est a
ccur
acy
trans
duce
r mus
t be
mou
nted
to a
sur
face
rigi
d en
ough
to
4.su
ppor
t loa
ds w
ithou
t def
lect
ion.
Rev.
Des
crip
tion
Initi
ator
Dat
e
03EC
O 1
4230
; Ad
ded
cha
mfe
r cal
l out
and
upd
ated
tapp
ed
hole
cal
l out
s to
stan
dar
d.
SZJ
7/13
/201
6
B1:
21
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
L. F
ishe
r, 2/
27/1
4
P. F
usco
, 2/2
8/20
14
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-14
6414
0217
-303
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Om
ega1
91 D
AQ/N
et T
rans
duce
r
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com184
5.18.11 Omega191 IP60 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
70.0
02±0
.025
119.
502±
0.02
549.4
99±0
.025
2X10
Slip
Fit
11C
usto
mer
Inte
rface
141.
5
28.4
70±0
.025
123.
733±
0.02
5
161.
252±
0.02
5
106.
252±
0.02
5
45°
Typ
Sid
e P
atte
rnO
ptio
nal M
ount
ing
Cus
tom
er In
terfa
ceFo
r M8
SH
CS
7X
8.7
Thr
u
2X
8 S
lip F
it 11
Cus
tom
er In
terfa
ce
B.C
. 22
0 57.8
Mux
& D
AQ
Sys
tem
4X
22.
5°
22.
5°
22.
5°
B.C
. 14
0
4X
22.
5°
70.4
Net
Sys
tem
45°
TOO
L S
IDE
SID
E V
IEW
MO
UN
TIN
G S
IDE
12X
Tap
M8
x 1.
25
12C
usto
mer
Inte
rface
+X -X
+Y-Y
Con
nect
or F
or C
able
Var
ies
Dep
endi
ng o
nS
enso
r Sel
ecte
d
74.3
22.9 8.1
62.1
Sen
sing
R
efer
ence
Fram
e O
rigin
Tool
A
dapt
er P
late
Neo
pren
eR
ubbe
r D
ust J
acke
tM
ount
ing
Ada
pter
Pla
te
+Z-Z
10 S
lip F
it 12
Cus
tom
er In
terfa
ce
75.1
97±0
.025
57.1
7557
.125
12
Cus
tom
er In
terfa
ce
238
190
30°
3
0°
2X
30°
2
X 3
0°
B.C
. 15
0.4
Sen
sing
Ref
eren
ceFr
ame
Orig
in
8X T
ap M
12x1
.75
16C
usto
mer
Inte
rface
+X -X
-Y+Y
ISO
ME
TRIC
VIE
W
Not
es: Mat
eria
l: H
arde
ned
Ste
el, S
tain
less
Ste
el a
nd A
lum
inum
1.S
ensi
ng R
efer
ence
Fra
me
Orig
in a
t sur
face
cen
ter o
f Too
l Ada
pter
.2.
Do
not d
isas
sem
ble
trans
duce
r. D
oing
so
coul
d da
mag
e tra
nsdu
cer
3.an
d w
ill v
oid
war
rant
y.Fo
r bes
t acc
urac
y, tr
ansd
ucer
mus
t be
mou
nted
to a
sur
face
rigi
d 4.
enou
gh to
sup
port
load
s w
ithou
t def
lect
ion.
Rev.
Des
crip
tion
Initi
ator
Dat
e
01Re
leas
eLT
F7/
29/2
014
B1:
2.5
11
REVI
SIO
N
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
L. F
ishe
r, 5/
30/2
014
A. P
ongo
r, 6/
9/20
14
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-14
70-
01
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP60
Om
ega1
91 T
rans
duce
r
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com185
5.18.12 Omega191 IP65 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
ISO
MET
RIC
VIE
W
70.0
02±0
.025
119.
502±
0.02
5
142.
9M
ux a
nd D
AQ
Sys
tem
204
63M
ux a
nd D
AQ
Sys
tem
135.
9N
et S
yste
m
70.7
Net
Sys
tem
49.
500±
0.02
5
5X
22.
5°
5X
22.
5°
22.
5°
22.
5°
B.C
. 14
0
Con
nect
or fo
r Cab
leV
arie
s D
epen
ding
on
Sen
sor S
elec
ted
+X
-X
+Y-Y
MO
UN
TIN
G S
IDE
2X
10 S
lip F
it 1
1C
usto
mer
Inte
rface
12X
Tap
M8
X 1
.25
12
Cus
tom
er In
terfa
ce
44.5
27.92.
4
74.8
-Z
Sens
ing
Ref
eren
ceFr
ame
Orig
in
+Z
SID
E V
IEW
Tool
Ada
pter
P
late
Mou
ntin
g A
dapt
erP
late
75.1
97±0
.025
57.1
7557
.125
2
0C
usto
mer
Inte
rface
B.C
. 15
0.4
2X
30°
2
X 3
0°
30°
3
0°
Sens
ing
Ref
eren
ceFr
ame
Orig
in
+X
+Y
-X
-Y
TOO
L S
IDE
8X T
ap M
12 X
1.7
5 1
2C
usto
mer
Inte
rface
10 S
lip F
it 1
6C
usto
mer
Inte
rface
Not
es: Mat
eria
l: S
tain
less
Ste
el1.
Sen
sing
Ref
eren
ce F
ram
e O
rigin
at s
urfa
ce c
ente
r of T
ool
2.A
dapt
er.
Do
not d
isas
sem
ble
trans
duce
r. D
oing
so
coul
d da
mag
e 3.
trans
duce
r and
will
voi
d w
arra
nty.
For b
est a
ccur
acy,
tran
sduc
er m
ust b
e m
ount
ed to
a s
urfa
ce
4.rig
id e
noug
h to
sup
port
load
s w
ithou
t def
lect
ion.
C
able
mus
t be
conn
ecte
d to
tran
sduc
er to
mai
ntai
n pr
oper
5.
seal
.C
able
is o
nly
IP68
rate
d on
ly a
t tra
nsdu
cer e
nd.
Tran
sduc
er
6.is
IP68
rate
d in
fres
hwat
er e
nviro
nmen
t at a
dep
th o
f up
to
10 m
eter
s.
Rev.
Des
crip
tion
Initi
ator
Dat
e
B1:
21
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
L. F
ishe
r, 7/
29/2
014
E. B
radf
ord,
7/3
0/20
14
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-14
7114
0627
-101
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP65
Om
ega1
91 T
rans
duce
r
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com186
5.18.13 Omega191 IP68 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
ISO
MET
RIC
VIE
W
70.0
02±0
.025
119.
502±
0.02
5
142.
9M
ux a
nd D
AQ
Sys
tem
204
63M
ux a
nd D
AQ
Sys
tem
135.
9N
et S
yste
m
70N
et S
yste
m
49.
500±
0.02
5
5X
22.
5°
5X
22.
5°
22.
5°
22.
5°
B.C
. 14
0
Con
nect
or fo
r Cab
leV
arie
s D
epen
ding
on
Sen
sor S
elec
ted
+X
-X
+Y-Y
MO
UN
TIN
G S
IDE
2X
10 S
lip F
it 1
1C
usto
mer
Inte
rface
12X
Tap
M8
X 1
.25
12
Cus
tom
er In
terfa
ce
44.5
27.92.
4
74.8
-Z
Sens
ing
Ref
eren
ceFr
ame
Orig
in
+Z
SID
E V
IEW
Tool
Ada
pter
P
late
Mou
ntin
g A
dapt
erP
late
75.1
97±0
.025
57.1
7557
.125
2
0C
usto
mer
Inte
rface
B.C
. 15
0.4
2X
30°
2
X 3
0°
30°
3
0°
Sens
ing
Ref
eren
ceFr
ame
Orig
in
+X
+Y
-X
-Y
TOO
L S
IDE
8X T
ap M
12 X
1.7
5 1
2C
usto
mer
Inte
rface
10 S
lip F
it 1
6C
usto
mer
Inte
rface
Not
es: Mat
eria
l: S
tain
less
Ste
el1.
Sen
sing
Ref
eren
ce F
ram
e O
rigin
at s
urfa
ce c
ente
r of T
ool
2.A
dapt
er.
Do
not d
isas
sem
ble
trans
duce
r. D
oing
so
coul
d da
mag
e 3.
trans
duce
r and
will
voi
d w
arra
nty.
For b
est a
ccur
acy,
tran
sduc
er m
ust b
e m
ount
ed to
a s
urfa
ce
4.rig
id e
noug
h to
sup
port
load
s w
ithou
t def
lect
ion.
C
able
mus
t be
conn
ecte
d to
tran
sduc
er to
mai
ntai
n pr
oper
5.
seal
.C
able
is o
nly
IP68
rate
d on
ly a
t tra
nsdu
cer e
nd.
Tran
sduc
er
6.is
IP68
rate
d in
fres
hwat
er e
nviro
nmen
t at a
dep
th o
f up
to
10 m
eter
s.
Rev.
Des
crip
tion
Initi
ator
Dat
e
B1:
21
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
L. F
ishe
r, 7/
17/2
014
E. B
radf
ord,
7/3
0/20
14
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-14
7214
0627
-101
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP68
-10m
Om
ega1
91 T
rans
duce
r
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com187
5.19 Omega250Specifications(IncludesIP60/IP65/IP68)5.19.1 Omega250PhysicalProperties(IncludesIP60/IP65/IP68)
Table 4.109—Omega250PhysicalProperties(IncludesIP60/IP65/IP68)Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±37000 lbf ±160000 NFz ±74000 lbf ±330000 NTxy ±180000 inf-lb ±21000 NmTz ±220000 inf-lb ±25000 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 2.4x106 lb/in 4.2x108 N/m Z-axisforce(Kz) 3.2x106 lb/in 5.6x108 N/m X-axis&Y-axistorque(Ktx,Kty) 2.7x107 lbf-in/rad 3.0x106 Nm/rad Z-axistorque(Ktz) 5.5x107 lbf-in/rad 6.2x106 Nm/rad Resonant Frequency Fx, Fy, Tz 780 Hz 780 HzFz, Tx, Ty 770 Hz 770 HzPhysicalSpecifications Weight1 70 lb 31.8 kgDiameter1 11.6 in 295 mmHeight1 3.74 in 94.9 mmNote:
1. Specificationsincludestandardinterfaceplates.
CAUTION: When submerged, IP68 transducers exhibit a decrease in Fz range related to the submersion depth. This loss is the result of pressure-induced preloading on the transducer. The preload can be masked by biasing the transducer at the depth prior to applying the load to be measured. The following estimates are for room temperature fresh water at sea level.
Submersion DepthIP68 Omega250 US MetricFz preload at 10 m depth -1138 lb -5061 NFz preload at other depths -35 lb/ft × depthInFeet -506 N/m × depthInMeters
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com188
5.19.2 CalibrationSpecifications(excludesCTLcalibrations)Table 4.110—Omega250Calibrations(excludesCTLcalibrations)1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Omega250 US-900-4500 900 1800 4500 4500 1/2 1/2 1 1 Omega250 US-1800-9000 1800 3600 9000 9000 1 1 2 2 Omega250 US-3600-18000 3600 7200 18000 18000 2 2 5 5
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Omega250 SI-4000-500 4000 8000 500 500 1 2 1/8 1/8Omega250 SI-8000-1000 8000 16000 1000 1000 2 4 1/4 1/4Omega250 SI-16000-2000 16000 32000 2000 2000 4 8 1/2 1/2
Sensing Ranges Resolution(DAQ,NetF/T)4
Notes:1. These system resolutions quoted are the effective resolution after dropping four counts of noise. The effective
resolutioncanbeimprovedwithfiltering.2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. For IP68 version see caution on physical properties page.4. DAQ resolutions are typical for a 16-bit data acquisition system.
5.19.3 CTL CalibrationSpecificationsTable 4.111— Omega250 CTL Calibrations1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz3 (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Omega250 US-900-4500 900 1800 4500 4500 1 1 2 2 Omega250 US-1800-9000 1800 3600 9000 9000 2 2 5 5 Omega250 US-3600-18000 3600 7200 18000 18000 5 5 10 10
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Fx,Fy (N)
Fz3 (N)
Tx,Ty (Nm)
Tz (Nm)
Omega250 SI-4000-500 4000 8000 500 500 2 4 1/4 1/4Omega250 SI-8000-1000 8000 16000 1000 1000 4 8 1/2 1/2Omega250 SI-16000-2000 16000 32000 2000 2000 8 16 1 1
Sensing Ranges Resolution(Controller)Notes:
1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight counts of noise.Theeffectiveresolutioncanbeimprovedwithfiltering.
2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly. 3. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com189
5.19.4 CTL Analog OutputTable 4.112— Omega250 Analog Output
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz2 (lbf)
Tx,Ty,Tz (lbf-in)
Fx,Fy (lbf/V)
Fz2 (lbf/V)
Tx,Ty,Tz (lbf-in/V)
Omega250 US-900-4500 ±900 ±1800 ±4500 90 180 450Omega250 US-1800-9000 ±1800 ±3600 ±9000 180 360 900Omega250 US-3600-18000 ±3600 ±7200 ±18000 360 720 1800
Sensor (SI)Metric Calibration
Fx,Fy (N)
Fz2 (N)
Tx,Ty,Tz (Nm)
Fx,Fy (N/V)
Fz2 (N/V)
Tx,Ty,Tz (Nm/V)
Omega250 SI-4000-500 ±4000 ±8000 ±500 400 800 50Omega250 SI-8000-1000 ±8000 ±16000 ±1000 800 1600 100Omega250 SI-16000-2000 ±16000 ±32000 ±2000 1600 3200 200
Analog Output Range Analog±10VSensitivity1
Notes:1. ±5V Sensitivity values are double the listed ±10V Sensitivity values.2. For IP68 version see caution on physical properties page.
5.19.5 CTLCountsValueTable 4.113—CountsValue
Sensor Calibration Fx,Fy,Fz (/lbf)
Tx,Ty,Tz (/lbf-in)
Fx,Fy,Fz (/N)
Tx,Ty,Tz (/Nm)
Omega250 US-900–4500/SI-4000–500 8 4 4000 32000Omega250 US-1800–9000/SI-8000–1000 4 2 2000 16000Omega250 US-3600–18000/SI-16000-2000 2 1 1000 8000Omega250 Tool Transform Factor 0.02 in/lbf 1.25 mm/N
CountsValue–Standard(US) CountsValue–Metric(SI)
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com190
5.19.6 Omega250(USCalibrationComplexLoading) (IncludesIP60/IP65/IP68)1
HelpOmega250 IP60/IP65/IP68
US-900-4500 US-1800-9000 US-3600-18000
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com191
5.19.7 Omega250(SICalibrationComplexLoading) (IncludesIP60/IP65/IP68)1
HelpOmega250 IP60/IP65/IP68
SI-4000-500 SI-8000-1000 SI-16000-2000
Note: 1. For IP68 version see caution on physical properties page.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com192
5.19.8 Omega250 IP60 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
B.C
. 16
0
135°
171.
9
2X10
Slip
Fit
11C
usto
mer
Inte
rface
56.5
69±0
.025
80±0
.025
136.
569±
0.02
5
22.5
°
Cus
tom
er In
terfa
ceE
qual
ly S
pace
d14
X T
ap M
12X
1.75
17
57.8
Mux
& D
AQ
Sys
tem
136
.525
±0.0
25
273
.050
±0.0
25
2X
12.0
6012
.035
Slip
Fit
25.
4C
usto
mer
Inte
rface
45°
70.4
Net
Sys
tem
+X -X
-Y+Y
Con
nect
or F
or C
able
Var
ies
Dep
endi
ng o
nS
enso
r Sel
ecte
d
94.9
15.2
69.2
30.
5 M
ount
ing
Ada
pter
pla
te
Neo
pren
eR
ubbe
r D
ust J
acke
t
Sen
sing
Ref
eren
ceFr
ame
Orig
in
+Z
Tool
Ada
pter
Pla
te
-Z
22.5
°
135°
B.C
. 20
0
57.1
7557
.125
17
Cus
tom
er In
terfa
ce
2X
12 S
lip F
it 10
Cus
tom
er In
terfa
ce
254
295
B.C
. 27
3.1
15°
2X 3
8.26
8±0.
025
92.3
88±0
.025
184.
776±
0.02
5
30°
11X
1
2.7
Thru
19.
3 1
2.4
For M
12 S
HC
SC
usto
mer
Inte
rface
Opt
iona
l Mou
ntin
g P
atte
rn
Sen
sing
Ref
eren
ceFr
ame
Orig
in+X -X
-Y+Y
14X
Tap
M12
x 1
.75
17E
qual
ly S
pace
dC
usto
mer
Inte
rface
TOO
L S
IDE
SID
E V
IEW
ISO
ME
TRIC
VIE
W
MO
UN
TIN
G S
IDE
Not
es: Mat
eria
l: S
tain
less
Ste
el a
nd A
lum
inum
1.S
ensi
ng R
efer
ence
Fra
me
Orig
in a
t sur
face
cen
ter o
f Too
l Ada
pter
.2.
Do
not d
isas
sem
ble
trans
duce
r. D
oing
so
coul
d da
mag
e tra
nsdu
cer
3.an
d w
ill v
oid
war
rant
y.Fo
r bes
t acc
urac
y, tr
ansd
ucer
mus
t be
mou
nted
to a
sur
face
rigi
d4.
enou
gh to
sup
port
load
s w
ithou
t def
lect
ion.
Rev.
Des
crip
tion
Initi
ator
Dat
e
06EC
O11
873:
Ad
ded
6x
add
ition
al M
12 ta
pped
hol
es fo
r cu
stom
er in
terfa
ce to
TA
P an
d M
AP.
Ad
ded
2x
12m
m
SF d
owel
s to
the
MA
P fo
r cus
tom
er in
terfa
ce.
LTF
3/21
/201
4
B1:
2.5
11
REVI
SIO
N
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
P.Sp
arro
w, 2
/16/
06
D.N
orto
n, 2
/17/
06
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-12
66-
06
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP60
Om
ega2
50 T
rans
duce
r
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com193
5.19.9 Omega250 IP65 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
57.1
7557
.125
17
.7C
usto
mer
Inte
rface
B.C
.20
0
2X
12 S
lip F
it 10
Cus
tom
er In
terfa
ce
Cus
tom
er In
terfa
ceE
qual
ly S
pace
d14
X T
ap M
12X
1.75
18
2X 3
8.26
8±0.
025
92.3
88±0
.025
184.
776±
0.02
5
TOO
L SI
DE
Sens
ing
Ref
eren
ceFr
ame
Orig
in
+X -X
-Y+Y
94.9
44.2
SID
E VI
EW
Mou
ntin
g Ad
apte
rPl
ate
Tool
Ada
pter
Plat
e
Sens
ing
Ref
eren
ceFr
ame
Orig
in
-Z+Z
175.
3M
ux a
nd D
AQ
S
yste
m
260.
4B
.C.
175
135°
2X
10 S
lip F
it 10
Cus
tom
er In
terfa
ce 63.3
Mux
and
DA
Q
Sys
tem
22.5
° Ty
p.
Cus
tom
er In
terfa
ce13
X T
ap M
12X
1.75
1
8
87.5
00±0
.025
149.
372±
0.02
5
61.8
72±0
.025
165.
7N
et S
yste
m70
.5N
et S
yste
m
45°
-Y
+X
+Y
-X
Mem
bran
eVe
nt
Con
nect
or F
or C
able
Varie
s D
epen
ding
on
Sens
or S
elec
ted
MO
UN
TIN
G S
IDE
ISO
MET
RIC
VIE
W
Not
es:
1. M
ater
ial:
Stai
nles
s St
eel
2. S
ensi
ng R
efer
ence
Fra
me
Orig
in a
t
sur
face
cen
ter o
f Too
l Ada
pter
.3.
Do
not d
isas
sem
ble
trans
duce
r. D
oing
so
c
ould
dam
age
trans
duce
r and
will
void
war
rant
y.4.
For
bes
t acc
urac
y, tr
ansd
ucer
mus
t be
mou
nted
to a
sur
face
rigi
d en
ough
to s
uppo
rt lo
ads
with
out d
efle
ctio
n.
5. C
able
mus
t be
conn
ecte
d to
tran
sduc
er to
mai
ntai
n pr
oper
sea
l.6.
Cab
le is
IP65
rate
d on
ly a
t Tra
nsdu
cer E
nd.
Rev.
Des
crip
tion
Initi
ator
Dat
e
03Ec
o 11
989;
Upd
ated
MA
P an
d T
AP
plat
es.
LJH
6/5/
14
B1:
2.5
11
REVI
SIO
N
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
P.Sp
arro
w, 2
/16/
06
D.N
orto
n 2/
17/0
6
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-12
71-
03
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP65
Om
ega2
50 T
rans
duce
r
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com194
5.19.10 Omega250 IP68 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
B.C
.20
0
2X 3
8.26
8±0.
012
184.
776±
0.01
2
92.3
88±0
.012
2X
12 S
lip F
it,10
Cus
tom
er In
terfa
ce
57.1
7557
.125
18
Cus
tom
er In
terfa
ce
22.
5° T
yp.
TOO
L SI
DE
+Z
Sens
ing
Ref
eren
ceFr
ame
Orig
in
+X -X
-Y+Y
14X
Tap
M12
x1.7
5 18
Cus
tom
er In
terfa
ce
94.9
44.2
SID
E VI
EW
Mou
ntin
gAd
apte
r
Tool
Adap
ter
Sens
ing
Ref
eren
ceFr
ame
Orig
in
175.
3B
.C.
175
22.5
°Ty
p.
87.5
00±0
.012
149.
363±
0.01
2
61.8
93±0
.012
61
OD
26
0.4
Cus
tom
er In
terfa
ce13
X T
ap M
12x1
.75
18
2X
10 S
lip F
it,
10C
usto
mer
Inte
rface
-Y
+X
+Y
-X
-Z
Con
nect
or fo
r Cab
leVa
ries
Dep
endi
ng o
nSe
nsor
Sel
ecte
d
NO
TES:
1. M
ATER
IAL:
Sta
inle
ss S
teel
2. S
ensi
ng R
efer
ence
fram
e or
igin
at
s
urfa
ce c
ente
r of t
ool a
dapt
er.
3. D
o no
t dis
asse
mbl
e tra
nsdu
cer.
Doi
ng s
o
cou
ld d
amag
e tra
nsdu
cer a
nd w
ill vo
id w
arra
nty.
4. F
or b
est a
ccur
acy,
tran
sduc
er m
ust b
e m
ount
ed to
a
s
urfa
ce ri
gid
enou
gh to
sup
port
load
s w
ithou
t def
lect
ion.
5.
Cab
le m
ust b
e co
nnec
ted
to tr
ansd
ucer
to
m
aint
ain
prop
er s
eal.
6. C
able
is o
nly
IP68
rate
d at
Tra
nsdu
cer E
nd.
Tran
sduc
er
is IP
68 ra
ted
in fr
eshw
ater
env
ironm
ent a
t a d
epth
of
u
p to
10
met
ers.
MO
UN
TIN
G S
IDE
ISO
MET
RIC
VIE
W
Rev.
Des
crip
tion
Initi
ator
Dat
e
03Ec
o 11
989;
Cha
nged
H7
to S
lip F
it, c
hang
e ho
le
inst
ance
s fro
m 8
to 1
4LJ
H6/
5/20
14
B1:
31
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
P.Sp
arro
w, 2
/16/
06
D.N
orto
n 2/
17/0
6
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-12
76-
03
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
IP68
-10m
OM
EGA2
50 T
rans
duce
r
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com195
5.20 Omega331Specifications(IncludesIP65)5.20.1 Omega331 Physical Properties (IncludesIP65)
Table 4.114—Omega331PhysicalProperties(IncludesIP60/IP65)Single-Axis Overload (US)StandardUnits (SI)MetricUnitsFxy ±53000 lbf ±240000 NFz ±120000 lbf ±520000 NTxy ±280000 inf-lb ±32000 NmTz ±320000 inf-lb ±36000 NmStiffness(Calculated) X-axis&Y-axisforces(Kx,Ky) 6.9x106 lb/in 1.2x109 N/m Z-axisforce(Kz) 7.3x106 lb/in 1.3x109 N/m X-axis&Y-axistorque(Ktx,Kty) 8.1x107 lbf-in/rad 9.2x106 Nm/rad Z-axistorque(Ktz) 2.1x108 lbf-in/rad 2.4x107 Nm/rad Resonant Frequency Fx, Fy, Tz N/A N/AFz, Tx, Ty N/A N/APhysicalSpecifications Weight1 104 lb 47 kgDiameter1 13 in 330 mmHeight1 4.22 in 107 mmNote:
1. Specificationsincludestandardinterfaceplates.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com196
5.20.2 CalibrationSpecifications(excludesCTLcalibrations)Table 4.115—Omega331Calibrations(excludesCTLcalibrations)1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Omega331 US-2250-13000 2250 5250 13000 13000 3/8 1 3 3/4 1 7/8Omega331 US-4500-26000 4500 10500 26000 26000 3/4 2 7 1/2 3 3/4Omega331 US-9000-52000 9000 21000 52000 52000 1 1/2 4 15 7 1/2
Sensor (SI)Metric Calibration
Fx,Fy (kN)
Fz (kN)
Tx,Ty (kNm)
Tz (kNm)
Fx,Fy (kN)
Fz (kN)
Tx,Ty (kNm)
Tz (kNm)
Omega331 SI-10000-1500 10 22 1.5 1.5 1/640 1/240 3/8000 3/16000Omega331 SI-20000-3000 20 44 3 3 1/320 1/120 3/4000 3/8000Omega331 SI-40000-6000 40 88 6 6 1/160 1/60 3/2000 3/4000
Sensing Ranges Resolution(DAQ,NetF/T)3
Notes:1. These system resolutions quoted are the effective resolution after dropping four counts of noise. The effective
resolutioncanbeimprovedwithfiltering.2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.3. DAQ resolutions are typical for a 16-bit data acquisition system.
5.20.3 CTL CalibrationSpecificationsTable 4.116— Omega331 CTL Calibrations1, 2
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty (lbf-in)
Tz (lbf-in)
Omega331 US-2250-13000 2250 5250 13000 13000 3/4 2 7 1/2 3 3/4Omega331 US-4500-26000 4500 10500 26000 26000 1 1/2 4 15 7 1/2Omega331 US-9000-52000 9000 21000 52000 52000 3 8 30 15
Sensor (SI)Metric Calibration
Fx,Fy (kN)
Fz (kN)
Tx,Ty (kNm)
Tz (kNm)
Fx,Fy (kN)
Fz (kN)
Tx,Ty (kNm)
Tz (kNm)
Omega331 SI-10000-1500 10 22 1.5 1.5 1/320 1/120 3/4000 3/8000Omega331 SI-20000-3000 20 44 3 3 1/160 1/60 3/2000 3/4000Omega331 SI-40000-6000 40 88 6 6 1/80 1/30 3/1000 3/2000
Sensing Ranges Resolution(Controller)Notes:
1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight counts of noise.Theeffectiveresolutioncanbeimprovedwithfiltering.
2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com197
5.20.4 CTL Analog OutputTable 4.117— Omega331 Analog Output
Sensor (US)Standard Calibration
Fx,Fy (lbf)
Fz (lbf)
Tx,Ty,Tz (lbf-in)
Fx,Fy (lbf/V)
Fz (lbf/V)
Tx,Ty,Tz (lbf-in/V)
Omega331 US-2250-13000 ±2250 ±5250 ±13000 225 525 1300Omega331 US-4500-26000 ±4500 ±10500 ±26000 450 1050 2600Omega331 US-9000-52000 ±9000 ±21000 ±52000 900 2100 5200
Sensor (SI)Metric Calibration
Fx,Fy (kN)
Fz (kN)
Tx,Ty,Tz (kNm)
Fx,Fy (kN/V)
Fz (kN/V)
Tx,Ty,Tz (kNm/V)
Omega331 SI-10000-1500 ±10 ±22 ±1.5 1 2.2 0.15Omega331 SI-20000-3000 ±20 ±44 ±3 2 4.4 0.3Omega331 SI-40000-6000 ±40 ±88 ±6 4 8.8 0.6
Analog Output Range Analog±10VSensitivity1
Note:1. ±5V Sensitivity values are double the listed ±10V Sensitivity values.
5.20.5 CTLCountsValueTable 4.118—CountsValue
Sensor Calibration Fx,Fy,Fz (/lbf)
Tx,Ty,Tz (/lbf-in)
Fx,Fy,Fz (/kN)
Tx,Ty,Tz (/kNm)
Omega331 US-2250–13000/SI-10000–1500 32 6.4 7680 64000Omega331 US-4500–26000/SI-20000–3000 16 3.2 3840 32000Omega331 US-9000–52000/SI-40000–6000 8 1.6 1920 16000Omega331 Tool Transform Factor 0.05 in/lbf 1.2 mm/N
CountsValue–Standard(US) CountsValue–Metric(SI)
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com198
5.20.6 Omega331(USCalibrationComplexLoading)(IncludesIP65)
HelpOmega331
US-2250-13000 US-4500-26000 US-9000-52000
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com199
5.20.7 Omega331(SICalibrationComplexLoading)(IncludesIP65)
HelpOmega331
SI-10000-1500 SI-20000-3000 SI-40000-6000
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com200
5.20.8 Omega331 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
226
.824
±0.0
25
151
.559
±0.0
25
28.
803±
0.02
5
177
.5
2X
12 S
lip F
it 12
Cus
tom
er In
terfa
ce
B.C
. 29
5.3
16X
M12
X1.
75 T
hru
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce
144
.801
±0.0
25
120.
900
120.
650
3C
usto
mer
Inte
rface
30°
MO
UN
TIN
G S
IDE
ISO
MET
RIC
VIE
W N
otes
: Mat
eria
l: H
arde
ned
Sta
inle
ss S
teel
and
Alu
min
um
1. D
O N
OT
EXC
EED
INTE
RFA
CE
DEP
TH, M
AY
CA
USE
DA
MA
GE.
2. D
o no
t dis
asse
mbl
e tra
nsdu
cer.
Doi
ng s
o co
uld
dam
age
trans
duce
r and
will
voi
d th
e w
arra
nty
3. F
or b
est a
ccur
acy
trans
duce
r mus
t be
mou
nted
to a
sur
face
rigi
d en
ough
4.
to
sup
port
load
s w
ithou
t def
lect
ion.
+X -X
+Y-Y
Con
nect
or fo
r Cab
leV
arie
s D
epen
ding
on
Sen
sor S
elec
ted
30.
7 2
9.8
107
33
0
254
18
Sen
sing
Ref
eren
ceFr
ame
Orig
in
Mou
ntin
gA
dapt
erP
late
Tool
Ada
pter
Pla
te
+Z-Z
SID
E V
IEW
2X
82.
023±
0.02
5 B.C
.29
5.3
122
.756
±0.0
25
245
.512
±0.0
25
120.
900
120.
650
6C
usto
mer
Inte
rface
16X
M12
X1.
75 T
hru
Equ
ally
Spa
ced
Cus
tom
er In
terfa
ce
2X
12 S
lip F
it 12
Cus
tom
er In
terfa
ce
Sen
sing
Ref
eren
ceFr
ame
Orig
in
TOO
L S
IDE
-Y+Y
-X+X
Con
nect
or fo
r Cab
le
Rev.
Des
crip
tion
Initi
ator
Dat
e
04Ec
o 11
586;
Mod
ified
MA
P an
d T
AP
to e
limin
ate
lega
cy
feat
ures
. Ad
ded
dim
ensio
ns fo
r NET
ver
sion.
A
P11
/6/2
013
B1:
31
1RE
VISI
ON
NO
TES:
UN
LESS
OTH
ERW
ISE
SPEC
IFIE
D.
DO
NO
T SC
ALE
DRA
WIN
G.
ALL
DIM
ENSI
ON
S A
RE IN
M
ILLIM
ETER
S.
DRA
WN
BY:
CHE
CKE
D B
Y:
D N
orto
n 10
/03/
03
P Fu
sco
7/17
/06
TITLE SC
ALE
SIZE
DRA
WIN
G N
UMBE
R
PRO
JEC
T #
SHEE
T
O
F 92
30-0
5-11
58-
04
PRO
PERT
Y O
F A
TI IN
DUS
TRIA
L A
UTO
MA
TION
, IN
C. N
OT
TO B
E RE
PRO
DUC
ED IN
AN
Y M
AN
NER
EXC
EPT
ON
ORD
ER O
R W
ITH P
RIO
R W
RITT
EN A
UTHO
RIZA
TION
OF
ATI.
1031
Goo
dwor
th Dr
ive, A
pex,
NC 27
539,
USA
Tel: +
1.919
.772.0
115
Em
ail: in
fo@ati
-ia.co
mFa
x: +1
.919.7
72.82
59
www
.ati-ia
.com
ISO
9001
Reg
ister
ed C
ompa
ny
Om
ega3
31 T
rand
ucer
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com201
5.20.9 Omega331 IP65 Transducer Drawing
3rd
AN
GLE
PRO
JEC
TION
226.
824±
0.02
5
144.
801±
0.02
5
151.
559±
0.02
5
28.8
03±0
.025
211
30°
61.1
DA
Q S
yste
m
B.C
. 29
5.3
(2)
12 S
lip F
it 12
Cus
tom
er In
terfa
ce
25.4
Cus
tom
er in
terfa
ceE
qual
ly S
pace
d(1
6)
M12
X1.
75Th
ru
71.4
Net
Sys
tem
MO
UN
TIN
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IDE
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Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com202
6. Advanced Topics6.1 Reducing Noise
6.1.1 MechanicalVibrationIn many cases, perceived noise is actually a real fluctuation of force and/or torque, caused by vibrations in the tooling or the robot arm. Many F/T systems offer filtering or averaging that can smooth out noise. If this is not sufficient, you may want to add a digital filter to the application software.
6.1.2 Electrical InterferenceCheck the F/T’s ground connections if you observe interference by motors or other noise-generating equipment.Consider using averaging or filtering if sufficient grounding is not possible or does not reduce the noise.
6.2 Detecting Failures(Diagnostics)6.2.1 Detecting Sensitivity Changes
Sensitivity checking of the transducer can also be used to measure the transducer system’s health. This is done by applying known loads to the transducer and verifying the system output matches the known loads. For example, a transducer mounted to a robot arm may have an end-effector attached to it:If the end-effector has moving parts, they must be moved in a known position. Place the robot arm in an orientation that allows the gravity load from the end-effector to exert load on many transducer output axes.Record the output readings.Position the robot arm to apply another load, this time causing the outputs to move far from the earlier readings.Record the second set of output readings.Find the differences from the first and second set of readings and use it as your sensitivity value.Even if the values vary somewhat from sample set to sample set, they can be used to detect gross errors. Either the resolved outputs or the raw transducer voltages may be used (the same must be used for all steps of this process).
CAUTION: When any strain gage is saturated or otherwise inoperable, all transducer F/T readings are invalid. It is vitally important to monitor for these conditions.
6.3 Scheduled Maintenance6.3.1 Periodic Inspection
For most applications, there are no parts that need to be replaced during normal operation. With industrial-type applications that continuously or frequently move the system’s cabling, you should periodically check the cable jacket for signs of wear. These applications should implement the procedures discussed in Section 5.2—Detecting Failures (Diagnostics) to detect any failures.Transducers that are not IP60, IP65, or IP68 rated must be kept free of excessive dust, debris, or moisture. IP60-rated transducers must be kept free of excessive moisture. Debris and dust should be kept from accumulating on or in a transducer.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com203
6.3.2 Periodic CalibrationPeriodic calibration of the transducer and its electronics is required to maintain traceability to national standards. Follow any applicable ISO-9000-type standards for calibration. ATI Industrial Automation recommends annual recalibrations, especially for applications that frequently cycle the loads applied to the transducer.
6.4 Transducer Cabling6.4.1 Calibrations
In many cases the transducer cable comprises part of the calibrated transducer. In these cases, changing the length or type of the cable can affect the calibration. Check with ATI Industrial Automation when making cabling changes to ensure your system’s calibration will not be affected.
6.4.2 Cabling and ConnectorsThe transducer cables and connectors are not designed to be user serviceable. The high flex life stranding used in the cable is difficult to work with and will fail prematurely if improperly assembled.However, there are special cases when customers find it necessary to temporarily remove the connector on a cable that is permanently attached to a transducer (such as found on the Nano and Mini series transducers). When reattaching the wires to the connector, it is vital that each conductor is encased in heat shrink tubing at the connection to prevent premature fatiguing of the mechanical connection. Also, any components contained in the connector must be reconnected exactly as found – failing to do so will impact system performance and accuracy.Damage to the outer jacketing of the transducer cable could enable moisture or water to enter an otherwise sealed transducer. Ensure the cable jacketing is in good condition to prevent transducer damage.
6.5 ResolutionATI’s transducers have a three sensing beam configuration where the three beams are equally spaced around a central hub and attached to the outside wall of the transducer. This design transfers applied loads to multiple sensing beams and allows the transducer to increase its sensing range in a given axis if a counterpart axis has reduced.The resolution of each transducer axis depends on how the applied load is spread among the sensing beams. The best resolution occurs in the scenario when the quantization of the gages is evenly distributed as load is applied. In the worst case scenario, the discrete value of all involved gages increases at the same time. The typical scenario will be somewhere between these two.F/T resolutions are specified as typical resolution, defined as the average of the worst and best case scenarios. Because both multi-gage effects can be modeled as a normal distribution, this value represents the most commonly perceived, average resolution. Although this misrepresents the actual performance of the transducers, it results in a close (and always conservative) estimate.
Manual, F/T Transducer SectionDocument #9620-05-Transducer Section-25
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com204
7. Terms and Conditions of SaleThe following Terms and Conditions are a supplement to and include a portion of ATI’s Standard Terms and Conditions, which are on file at ATI and available upon request.
ATI warrants to Purchaser that force torque sensor products purchased hereunder will be free from defects in material and workmanship under normal use for a period of one year from the date of shipment. This warranty does not cover components subject to wear and tear under normal usage or those requiring periodic replacement. ATI will have no liability under this warranty unless: (a) ATI is given written notice of the claimed defect and a description thereof within thirty (30) days after Purchaser discovers the defect and in any event not later than the last day of the warranty period; and (b) the defective item is received by ATI not later ten (10) days after the last day of the warranty period. ATI’s entire liability and Purchaser’s sole remedy under this warranty is limited to repair or replacement, at ATI’s election, of the defective part or item or, at ATI’s election, refund of the price paid for the item. The foregoing warranty does not apply to any defect or failure resulting from improper installation, operation, maintenance or repair by anyone other than ATI.
ATI will in no event be liable for incidental, consequential or special damages of any kind, even if ATI has been advised of the possibility of such damages. ATI’s aggregate liability will in no event exceed the amount paid by purchaser for the item which is the subject of claim or dispute. ATI will have no liability of any kind for failure of any equipment or other items not supplied by ATI.
No action against ATI, regardless of form, arising out of or in any way connected with products or services supplied hereunder may be brought more than one year after the cause of action accrued.
No representation or agreement varying or extending the warranty and limitation of remedy provisions contained herein is authorized by ATI, and may not be relied upon as having been authorized by ATI, unless in writing and signed by an executive officer of ATI.
Unless otherwise agreed in writing by ATI, all designs, drawings, data, inventions, software and other technology made or developed by ATI in the course of providing products and services hereunder, and all rights therein under any patent, copyright or other law protecting intellectual property, shall be and remain ATI’s property. The sale of products or services hereunder does not convey any express or implied license under any patent, copyright or other intellectual property right owned or controlled by ATI, whether relating to the products sold or any other matter, except for the license expressly granted below.
In the course of supplying products and services hereunder, ATI may provide or disclose to Purchaser confidential and proprietary information of ATI relating to the design, operation or other aspects of ATI’s products. As between ATI and Purchaser, ownership of such information, including without limitation any computer software provided to Purchaser by ATI, shall remain in ATI and such information is licensed to Purchaser only for Purchaser’s use in operating the products supplied by ATI hereunder in Purchaser’s internal business operations.
Without ATI’s prior written permission, Purchaser will not use such information for any other purpose or provide or otherwise make such information available to any third party. Purchaser agrees to take all reasonable precautions to prevent any unauthorized use or disclosure of such information.
Purchaser will not be liable hereunder with respect to disclosure or use of information which: (a) is in the public domain when received from ATI; (b) is thereafter published or otherwise enters the public domain through no fault of Purchaser; (c) is in Purchaser’s possession prior to receipt from ATI; (d) is lawfully obtained by Purchaser from a third party entitled to disclose it; or (f) is required to be disclosed by judicial order or other governmental authority, provided that, with respect to such required disclosures, Purchaser gives ATI prior notice thereof and uses all legally available means to maintain the confidentiality of such information.