ID : 5465

Using a WACOH-TECH Force Sensor

This page describes details of the devices necessary for the force sensor-based force control function using a force sensor manufactured by WACOH-TECH Inc.

Available Force Sensor

Among DynPick WEF-6A series (manufactured by WACOH-TECH Inc.), the following models are available for the force sensor–based force control function.

Model /External view	Connector case (*1)	Rated load		Outline drawig
Model /External view	Connector case (*1)	Translational force [N]	Moment [Nm]	Outline drawig
WEF-6A200-4-RCD	Not equipped	±200	±4	refer to (PDF:157KB)
WEF-6A200-4-RCD-B	Equipped	±200	±4	refer to (PDF:158KB)
WEF-6A500-10-RCD-B		±500	±10	refer to (PDF:158KB)
WEF-6A1000-30-RCD-B		±1000	±30	refer to (PDF:157KB)
WEF-6A200-20-RCD-B		±200	±20	refer to (PDF:162KB)
Common Specification Detection axis Translational force: Fx Fy Fz Moment: Mx My Mz Power supply voltage [V] 5 to 24

*1: A connector case allows the connection direction of the sensor connector to turn into the sensor's circuit direction.

*2: For detailed information about the force sensor Dyn-Pick, refer to the user's manual of "Capacitive 6-axis force sensor WEF-6A series" manufactured by WACOH-TECH Inc.

For information about the user's manual of force sensor, please contact to WACOH-TECH Inc. .

Periodically check the force sensor.

System Configuration

The following image shows the system configuration.

Only when the robot is VS-series having a communication interface flange-A, you can use the internal wiring of the robot as a wiring between a robot controller and a force sensor.

For details, please refer to "Cable Connection Using an Internal Wiring".

Components /
Manufacturer /Model(Part number)

Description

(1) Force sensor

WACOH-TECH Inc.

Refer to Available force sensor.

This is a capacitive force sensor, Dyn-Pick.
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)

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 with referring to the outline drawing of Available force sensor.

The following two devices are available for the Force sensor and robot controller connection.

(5-1) RS-422A communication board

CONTEC CO., LTD.

1ch type: COM-1PD(LPCI)H
2ch type: COM-2PD(PCI)H
4ch type: COM-4PD(PCI)H

Insert this board into the expansion slot of the robot controller for use.
There are two board types: 1ch type and 2ch type. For normal application, select 1ch type. If an RS-422A communication is used for other application than the Force sensor, select 2ch type or 4ch type.

RS-422A communication board needs arrangement before use. Please refer to "RS-422A Communication Board Setting".

This board cannot be used together with any other PCI board.(Example: Electric gripper control board, parallel I/O board, EtherCAT master board) A PCI Express board can be used together.(Example: CC-Link remote device board, EtherNet/IP adapter board, PROFIBUS slave board)

(5-2) RS-422A Micro converter

CONTEC CO., LTD.

Model: COM-1PD(USB)H

(This device requires robot controller software version 2.5.* or higher.)

Connect this converter to a USB connector of robot controller.

You need to perform necessary settings on this RS-422A micro converter before use. Refer to How to Use RS-422A Micro Converter for details.

If this product is subjected to strong noise, Force sensor communication-related errors may occur.
In this case, take any measures for noise reduction with reference to Noise Reduction When Using RS-422A Micro Converter.

(6) Power supply (24V DC)

(selected by customer)

A power supply to supply electricity to the force sensor. Connect two lines (red and black lines) of a force sensor and RS-422A communication board cable.
The following shows power supply specification for all force sensors.

Maximum power consumption: 80 mA
Startup waiting time: Within one second.

Be careful not to connect a red line (+24 V) and a black line (0 V) incorrectly as this may result in damage to the force sensor.

(7) 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”.

(8) Force sensor and RS-422A communication board cable