ID : 1143

System Configuration of Direct-connection Type Force Sensor

The following image shows the system configuration.

When creating a system, refer to the instruction manual published on ATI Industrial Automation website and perform it correctly and safely, in addition to the following contents.

Periodically check the force sensor.

Components / Manufacturer / Model (Part number)	Description
(1) Force sensor ATI Industrial Automation Refer to "Available Force Sensors".	Select a force sensor according to your application. In the instruction manual of ATI Industrial Automation, the force sensor is described as "Transducer".
(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)	Select a tool according to your application.
(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) Power and Ethernet cable ATI Industrial Automation Accompanied with the force sensor (Cable length is about 4 m) Model 9105-C-ZC22-ZC28-4	A cable to connect a force sensor and the branched cable. When you purchase the force sensor, this cable will be accompanied. Extension cable of 2 m is available as an option.
(6) Branched cable ATI Industrial Automation Accompanied with the force sensor (Cable length is about 4 m) Model 9105-C-ZC28-U-RJ45S-4	A cable to connect the power and Ethernet cable to a robot controller and a power supply (24 V DC). When you purchase the force sensor, this cable will be accompanied. For wiring to connect to the power supply (24 V DC), refer to the instruction manual published on ATI Industrial Automation website.
(7) Power supply (24 V DC) (selected by customer)	A power supply to supply electricity to the force sensor. Select a power supply that is fulfilled with the following specification. Nominal voltage : 24 V Voltage range : 12 V to 30 V Maximum power consumption : 1.5 W
(8) 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”.

Components /

Manufacturer / Model (Part number)

Description

(1) Force sensor

ATI Industrial Automation

Refer to "Available Force Sensors".

Select a force sensor according to your application.

In the instruction manual of ATI Industrial Automation, the force sensor is described as "Transducer".

(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)

Select a tool according to your application.

(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) Power and Ethernet cable

ATI Industrial Automation

Accompanied with the force sensor

(Cable length is about 4 m)
Model

9105-C-ZC22-ZC28-4

A cable to connect a force sensor and the branched cable.

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

Extension cable of 2 m is available as an option.

(6) Branched cable

ATI Industrial Automation

Accompanied with the force sensor

(Cable length is about 4 m)
Model

9105-C-ZC28-U-RJ45S-4

A cable to connect the power and Ethernet cable to a robot controller and a power supply (24 V DC).

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

For wiring to connect to the power supply (24 V DC), refer to the instruction manual published on ATI Industrial Automation website.

(7) Power supply (24 V DC)

(selected by customer)

A power supply to supply electricity to the force sensor. Select a power supply that is fulfilled with the following specification.

Nominal voltage : 24 V
Voltage range : 12 V to 30 V
Maximum power consumption : 1.5 W

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

DENSO WAVE Inc.

Force Sensor Compliance Control
Force Sensor Robust Compliance Control

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”.

ID : 1143

<< Prev Next >>