Force-Torque-Sensors 1. Overview Force-Torque-Sensors
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1 Force-Torque-Sensors 1 Overview Force-Torque-Sensors
2 Force-Torque-Sensors 2 Content General information... 3 Features... 3 Specifis and benefits... 3 Accuracy... 4 Repeatability... 4 Resolution... 4 Data rates of the different F/T interfaces... 5 Typical applications... 5 FTN (Net F/T) for industrial applications with BUS-communication... 6 Product features... 6 FTD (DAQ F/T) for data converting at the PC... 7 Product features... 7 FTS (Controller F/T) self-sustaining measuring system... 8 Product features... 8 TWE F/T for research (integration in electronics provided by the customer)... 9 Measurement uncertainties of Force-Torque-Sensors (FTN, FTD, FTS) FT-Checklist Contact... 14
3 Force-Torque-Sensors 3 General information The Force-Torque-Sensor (F/T) system measures the full six components of force and torque (F x, F y, F z, M x, M y, M z ) using a monolithic instrumented transducer. The F/T transducer uses silicon strain gauges for excellent noise immunity. The use of silicon gages allows the F/T transducer to have high stiffness and increased overload protection. All transducer models are available with Net F/T (FTN), DAQ F/T (FTD) or Controller F/T (FTS) interfaces. Different sizes of Force-Torque-Sensors Features The FTN, FTD, FTS, and TWE F/T each provide a variety of powerful functions: tool transformations: translate and/or rotate the F/T reference frame. demo software: allows configuration and basic data logging capabilities. biasing: provides a convenient way to offset tool weight. increased system throughput: is possible by reducing the number of axes of output (not applicable to the FTN or TWE F/T). threshold detection: eases integration into industrial applications (FTN and FTS only). integral temperature compensation: insures accuracy over a wide temperature range. Specifis and benefits overload protection: the F/T transducer is extremely rugged and durable. All transducer models can withstand up to 40 times higher overload. high signal-to-noise ratio: silicon gages provide a signal 75 times stronger than conventional foil gages. This signal is amplified resulting in near-zero noise distortion. customized F/T transducers: can be designed and built to your specifications. IP protection: transducer can be sealed to IP68 and Net Box to IP65.
4 Force-Torque-Sensors 4 Accuracy Accuracy is the difference between the applied load and the measurement output. Accuracy is important when the exact load must be known. However, in most applications it is more important to have repeatable data. SCHUNK specs are based on Full Scale. Example: Gamma SI Name Calibration F x F y F z T x T y T z Gamma SI % 1.00% 0.75% 1.00% 1.25% 1.00% F x range is 32 N, maximum error is 0.24 N. F z range is 100 N, maximum error is 0.75 N. Repeatability Repeatability is the difference between the measured outputs each time the same load is applied. Often it is unimportant to know exactly the loads being measured. Instead, you should know that the same load always produces the same output. Resolution Resolution is the smallest change in load that will produce a change in output. The smaller the resolution, the greater the sensitivity. This is important when a sense of touch is critical to the application.
5 Force-Torque-Sensors 5 Data rates of the different F/T interfaces Type Output format Output rate Latency Filtering options FTN standard mode (Fieldbus, Ethernet) RDT mode (Ethernet only) 7000 Hz 7000 Hz 500 µs 288 µs 5 Hz to 838 Hz digital filtering FTD digital 16,67 khz to 41,67 khz 1/Output Rate averaging FTS serial / analog 560 Hz 2500 Hz 2585 µs 800 µs averaging Typical applications Thousands of Force-Torque-Sensors are being used in a variety of applications such as: robotic part insertion: mating or mounting by robots. deburring, polishing, grinding: optimal results through a constant jacking force. force torque feedback: control of manipulators in nuclear environments. medicine: prosthetics research and simulation of surgeries. product testing: haptic measurements for automotive components. Roll hemming a metal plate Grinding a water tap
6 Force-Torque-Sensors 6 FTN (Net F/T) for industrial applications with BUS-communication Force-Torque-Sensor with cable and Net Box Connects to systems via Ethernet, EtherNet/IP and/or CAN bus. The FTN's web browser interface allows for easy configuration and set up. The FTN sensor system measures six components of force and torque (F x, F y, F z, M x, M y, M z ). The FTN provides an EtherNet/IP and CAN bus communication interface and is compatible with standard Ethernet. The FTN system is available with all of our transducer models. Product features fully ODVA -compliant EtherNet/IP interface. environmental sealing is available. The FTN interface (Net Box) is sealed to IP65 (water splash-proof), most FTN transducers and cables can be sealed to IP68 (submergibility in fresh water, to a depth of 10 meters). powered by Power over Ethernet (PoE) or by an external power supply (11 V to 24 V). up to 16 transducer calibrations can be permanently stored in the system and can be selected by the user. Demo software for FTN
7 Force-Torque-Sensors 7 FTD (DAQ F/T) for data converting at the PC Force-Torque-Sensor connected to PC Connects to PC via standard data acquisition cards. The transducer's six strain gage outputs are amplified and conditioned so they can be connected directly to the inputs of standard data acquisition cards. After the strain gage voltages are digitized, software performs calibration matrix calculations in the host computer to convert strain gage data. Product features highest available output rate. high variety of data acquisition cards usable (PCI, PCI express, USB, PCMCIA, etc.). dual calibration possible. Force-Torque-Sensor with power supply box and data acquisition card
8 Force-Torque-Sensors 8 FTS (Controller F/T) self-sustaining measuring system FTS controller Connects to systems via RS-232, analog outputs and/or discrete I/O connections. The FTS interface digitizes the transducer's six strain gage outputs and performs calibration matrix calculations to convert strain gage voltages into forces and torques. Product features self-sustaining measuring system. dual calibration possible. directly configurable by PC because of already integrated RS-232 interface. Measured forces and torques can be given out in terms of analog voltages (+- 5 V/+- 10 V). Different connections of a controller
9 Force-Torque-Sensors 9 TWE F/T for research (integration in electronics provided by the customer) The TWE (transducer without internal electronics) system requires customer-supplied amplification and signal conditioning. This system consists of just the transducer (only F/T Nano and Mini), calibration information and source code. Customers must supply the electrical interface, amplification and signal conditioning according to our documentation. This requires a high level of electronics skill and experience and a complete understanding of the user's manual. Customers must also implement a software interface, but can use a supplied code for the necessary calculations. Sensor without internal electronics (TWE)
10 Force-Torque-Sensors 10 Measurement uncertainties of Force-Torque-Sensors (FTN, FTD, FTS) These values are the max. possible measurement errors. Type of transducer Calibration F x F y F z M x M y M z Nano17 Titanium SI % 1.00% 1.00% 1.25% 1.25% 1.25% Nano17 Titanium SI % 1.00% 1.00% 1.25% 1.25% 1.25% Nano17 Titanium SI % 1.00% 1.00% 1.25% 1.25% 1.25% Nano17 SI % 1.00% 1.00% 1.50% 1.50% 1.75% Nano17 SI % 1.00% 1.00% 1.50% 1.50% 1.75% Nano17 SI % 1.50% 1.50% 1.50% 1.50% 1.75% Nano17 IP65/IP68 SI % 1.00% 1.00% 1.75% 1.50% 1.75% Nano17 IP65/IP68 SI % 1.50% 2.00% 1.50% 1.75% 2.00% Nano25 SI % 1.00% 1.00% 1.25% 1.25% 1.25% Nano25 SI % 1.00% 1.00% 1.50% 1.75% 1.75% Nano25 IP65/IP68 SI % 1.00% 1.00% 1.25% 1.25% 1.25% Nano25 IP65/IP68 SI % 1.25% 1.25% 2.00% 2.00% 1.50% Mini40 SI % 1.00% 0.75% 1.25% 1.25% 2.00% Mini40 SI % 1.25% 0.75% 1.25% 1.50% 1.50% Mini40 SI % 1.25% 1.50% 1.25% 1.75% 1.25% Mini45 SI % 1.00% 0.75% 1.25% 1.50% 1.25% Mini45 SI % 0.75% 0.75% 1.00% 1.25% 1.25% Mini45 SI % 1.25% 1.00% 1.25% 1.75% 1.00% Mini58 SI % 1.25% 1.25% 1.25% 1.25% 2.25% Mini58 SI % 1.25% 1.25% 1.25% 1.25% 2.25% Mini58 SI % 2.25% 2.75% 1.25% 1.25% 2.25% Mini85 SI % 1.50% 1.00% 1.25% 1.25% 1.25% Mini85 SI % 1.50% 1.00% 1.25% 1.25% 1.25% Mini85 SI % 1.50% 1.00% 1.25% 1.75% 1.25% Gamma SI % 0.75% 0.75% 1.00% 1.25% 1.50% Gamma SI % 1.25% 0.75% 1.00% 1.00% 1.50% Gamma SI % 1.25% 0.75% 1.00% 1.25% 1.50%
11 Force-Torque-Sensors 11 Type of transducer Calibration F x F y F z M x M y M z Gamma IP60 SI % 1.00% 0.75% 1.00% 1.00% 1.50% Gamma IP60 SI % 1.00% 0.75% 1.00% 1.00% 1.50% Gamma IP60 SI % 1.00% 0.75% 1.00% 1.00% 1.50% Gamma IP65/IP68 SI % 1.00% 0.75% 1.00% 1.00% 1.50% Gamma IP65/IP68 SI % 1.00% 1.00% 1.00% 1.25% 1.50% Gamma IP65/IP68 SI % 1.00% 1.00% 1.00% 1.25% 1.50% Delta SI % 1.00% 1.00% 1.00% 1.00% 1.50% Delta SI % 1.00% 1.00% 1.25% 1.25% 1.50% Delta SI % 1.25% 1.50% 1.00% 1.25% 1.75% Delta IP60 SI % 1.00% 1.00% 1.00% 1.00% 1.50% Delta IP60 SI % 1.00% 1.00% 1.00% 1.00% 1.25% Delta IP60 SI % 1.25% 1.50% 1.00% 1.25% 1.75% Delta IP65/IP68 SI % 1.50% 1.50% 2.00% 2.00% 2.25% Delta IP65/IP68 SI % 1.50% 1.50% 1.50% 1.50% 2.00% Delta IP65/IP68 SI % 1.75% 2.50% 1.75% 1.75% 1.75% Theta SI % 1.25% 0.75% 0.75% 1.00% 1.00% Theta SI % 1.25% 1.00% 1.00% 1.00% 1.00% Theta SI % 1.25% 1.50% 1.00% 1.00% 1.00% Theta IP60 SI % 1.00% 0.75% 1.25% 1.25% 1.00% Theta IP60 SI % 1.25% 1.00% 1.25% 1.00% 1.25% Theta IP60 SI % 1.25% 1.50% 1.25% 1.25% 1.50% Theta IP65/IP68 SI % 1.25% 1.00% 1.00% 1.00% 1.00% Theta IP65/IP68 SI % 1.25% 1.25% 1.00% 1.00% 1.00% Theta IP65/IP68 SI % 1.50% 2.00% 1.00% 1.25% 1.00% Omega85 SI % 1.50% 1.00% 1.25% 1.25% 1.25% Omega85 SI % 1.50% 1.00% 1.25% 1.25% 1.25% Omega85 SI % 1.50% 1.00% 1.25% 1.75% 1.25% Omega85 IP65/IP68 SI % 1.50% 1.00% 1.25% 1.25% 1.25% Omega85 IP65/IP68 SI % 1.50% 1.00% 1.25% 1.25% 1.25%
12 Force-Torque-Sensors 12 Omega190 IP65/IP68 Omega250 IP60/IP65/IP68 Omega250 IP60/IP65/IP68 Omega250 IP60/IP65/IP68 Omega331 Omega331 Omega331 Type of transducer Calibration F x F y F z M x M y M z Omega85 IP65/IP68 SI % 1.50% 1.00% 1.25% 1.75% 1.25% Omega160 SI % 1.00% 0.75% 1.00% 1.00% 1.25% Omega160 SI % 1.00% 1.00% 1.00% 1.25% 1.75% Omega160 SI % 1.25% 1.50% 1.00% 1.25% 1.25% Omega160 IP60 SI % 1.00% 0.75% 1.00% 1.25% 1.25% Omega160 IP60 SI % 1.00% 1.00% 1.00% 1.25% 1.25% Omega160 IP60 SI % 1.25% 1.50% 1.00% 1.25% 1.25% Omega160 IP65/IP68 SI % 1.25% 0.75% 1.00% 1.00% 1.25% Omega160 IP65/IP68 SI % 1.50% 1.25% 1.00% 1.25% 1.25% Omega160 IP65/IP68 SI % 1.75% 2.50% 1.25% 1.50% 1.75% Omega190 SI % 1.75% 1.00% 1.25% 2.00% 1.00% Omega190 SI % 2.50% 2.00% 1.25% 2.00% 1.00% Omega190 SI % 4.50% 3.50% 1.75% 3.00% 2.00% Omega190 IP SI % 2.25% 1.50% 2.25% 2.25% 1.25% Omega190 IP60 SI % 3.25% 2.75% 2.25% 2.25% 1.75% Omega190 IP60 SI % 6.00% 5.25% 3.25% 3.25% 2.50% Omega190 IP65/IP SI % 2.25% 1.50% 1.75% 2.00% 1.75% Omega190 IP65/IP68 SI % 3.25% 2.75% 1.75% 2.00% 1.75% SI % 6.00% 5.25% 2.50% 3.00% 3.75% 1400 SI % 4.00% 4.00% 5.00% 5.00% 9.00% SI SI SI SI SI % 4.00% 4.00% 5.00% 5.00% 9.00% 4.00% 4.00% 4.00% 5.00% 5.00% 8.75% 7.00% 7.00% 7.00% 7.00% 7.00% 7.00% 7.00% 7.00% 7.00% 7.00% 7.00% 7.00% 7.00% 7.00% 7.00% 7.00% 7.00% 7.00%
13 Force-Torque-Sensors 13 FT-Checklist
14 Force-Torque-Sensors 14 Contact For technical support and information please contact us: SCHUNK online catalogue Weblink to SCHUNK Force-Torque-Sensor online catalogue page SCHUNK GmbH & Co. KG SCHUNK Homepage SCHUNK subsidiaries SCHUNK worldwide
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