System Configuration of Net Box-connection Type Force Sensor

(1) Force sensor

ATI Industrial Automation

• Refer to "Available Force Sensors".

Select a force sensor according to your application.

(2) Force sensor mounting stay

(made by customer)

A stay for fixing a force sensor to the end of the robot arm.

For details, refer to "How to Install a Force Sensor".

(3) Tool

(selected by customer)

(4) Tool mounting stay

(made by customer)

A stay for fixing a tool to the force sensor.

Create a stay referring to the outer dimension drawing of the force sensor published on ATI Industrial Automation website.

(5) Transducer cable

ATI Industrial Automation

• Accompanied with the force sensor

A cable to connect the force sensor and the Net Box.

When you purchase the force sensor, this cable will be accompanied.

Depending on the force sensor, some force sensors are integrated with a cable (a force sensor and a cable cannot be separated) (hereafter, "cable integrated type"). Nano and Mini series are the cable integrated type.

The length is different between the cable integrated type and other force sensors (hereafter, "cable separated type").

• Cable separated type

  Standard : 10 m

  Option : 0.3 m to 30 m

• Cable integrated type

  Standard : 1.8 m

  Option : 0.3m to 5 m

Specify the length when you purchase the force sensor.

(6) Net Box

ATI Industrial Automation

• Accompanied with the force sensor

An interface to connect a force sensor and a robot controller so as to be able to communicate between these devices.

When you purchase the force sensor, this product will be accompanied.

For details, refer to the instruction manual published on ATI Industrial Automation website.

(7) M12 to RJ45 adapter

(purchased from ATI Industrial Automation. Or made by customer)

An adapter (a cable) to connect the Net Box and a robot controller through Ethernet cable.

You can purchase it from ATI Industrial Automation.

Or this can be made by customer.

For details, refer to the instruction manual published on ATI Industrial Automation website.

You need to supply electricity to the Net Box. You can select from the following two methods.

(9) EtherNet cable

(selected by customer)

This connects the Net Box and a robot controller through the M12-RJ45 adapter. Select an Ethernet cable that is fulfilled with the following specification.

• Ethernet cable more than CAT5

(10) Software license for the force sensor–based force control function

DENSO WAVE Inc.

Force Sensor Compliance Control

Compliance function-activated

410002-735*

License only

410002-736*

Force Sensor Robust Compliance Control

Compliance function-activated

410002-898*

License only

410002-899*

These are DENSO products.

These licenses are required to use the force sensor–based force control function.
The force sensor–based force control function is classified into two types: “Force Sensor Compliance Control” and “Force Sensor Robust Compliance Control”.
Select a license for the type of function that you intend to use.

"Compliance function-activated" targets a newly purchased robot set. Ordering this option with a robot set will activate the function before shipment. Please order this option with a robot set.
"License only" targets a robot set that has been shipped without "Compliance function-activated" option. To use this function with such robot set, please order "License only". If you order "License only", you need to activate the function on your robot controller.

For how to activate the function, refer to “Activating the Function”.