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ID : 1138

Using a SINTOKOGIO Force Sensor

This page describes the necessary equipment for the Compliance Function with Force Sensor under the use of SINTOKOGIO force sensor.

  • To use a force sensor of this manufacturer, software version the robot controller must be version 2.11.0 or higher.

Available Force Sensor

Among ZYXer series force sensors of SINTOKOGIO, following models are available.

Model Rated load Outline drawig
Translational force [N] Moment [Nm]

Low load model

 (*1)

Fx、Fy : ±50

Fz : ±100

Mx、My : ±0.5

Mz : ±0.5

 refer to (PDF:3,303KB)

Standard model

 (*2)

Fx、Fy : ±500

Fz : ±500

Mx、My : ±20

Mz : ±20

 refer to (PDF:1,201KB)

Middle load model

Fx、Fy : ±1000

Fz : ±1000

Mx、My : ±30

Mz : ±30

 refer to (PDF:1,582KB)

High load model

 (*1)

Fx、Fy : ±5000

Fz : ±10000

Mx、My : ±500

Mz : ±250

 refer to (PDF:2,464KB)

*1,*2 : Among force sensors listed in the above table, some of them equip a converter (a equipment that converts the force sensor signal to the one to be received by a robot controller). Models having (*1) in the above table do not equip a converter. Models having (*2) equip a converter. For (*1) models, when you connect a force sensor with a robot controller, connect them through an external converter.
(Hereafter, a model with (*1) describes as a "converter connecting force sensor" and a model with (*2) describes as a "direct connecting force sensor".

Common Specification

For any model, data exchange between a robot controller and a force sensor is done via RS-422A communication.

The baud rate of RS422A communication is 46800bps in the standard model. You can change the baud rate to 92160bms when placing an order though, the baud rate of the robot controller is 46800bps at the maximum. Therefore, do not change it to 92160bps.

Information of each force sensor written above is only a part of the entire information. For details, refer to SINTOKOGIO,LTD. website.

System Configuration

The following image shows the system configuration.

Periodically check the force sensor.

Components /

Manufacturer / Model(Part number)

 Description

(1) Force sensor

SINTOKOGIO,LTD.

Select a force sensor according to your application.

If you purchase a converter connecting force sensor, a converter is shipped with a force sensor. Also, a converter connecting force sensor has a cable that connects a converter. The length of the direct connecting cable is 2m.

Fix the converter to the robot arm.

A converter connecting force sensor and a converter is paired with a serial number. Connect a converter connecting force sensor to a converter having the same serial number.

(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.

(5) force sensor cable

SINTOKOGIO,LTD.

  • Shipped with the force sensor.

    Select appropriate length from 2ｍ, 5ｍ and 10ｍ.

A cable that connects the force sensor to the robot controller. Specify the length of the cable when you purchase the force sensor.

The cable end of the robot controller connection side is loose-wire. Connect individual wire of the loose-wire to the applicable pins on D-sub 9 pin connector (female).

For information about how to connect wires, refer to "How to connect pins for D-sub 9 pin connector (female)" in the bottom of this page.

(6) D-sub 9 pin connector (female)

(selected by customer)

This connector connects the force sensor cable and the cable of the power supply device (see below) to the robot controller.

For information about how to connect wires, refer to "How to connect pins for D-sub 9 pin connector (female)" in the bottom of this page.

(7) Power supply device (DC5V) and wiring

(selected by customer)

A power supply device and its wiring that feed electrical power to the force sensor.

Prepare device having the following specification.

  • DC 5V ±5%

For information about how to connect wires, refer to "How to connect pins for D-sub 9 pin connector (female)" in the bottom of this page.

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

(8-1) RS-422A communication board

CONTEC CO., LTD.

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

(Either of them are PCI boards.)

Insert this board into the expansion slot of the robot controller for use.

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, paralell 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)

(8-2) 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".

(9) Software license for Compliance function with Force sensor

DENSO WAVE Inc.

Compliance function-activated
410002-735*
License only
410002-736*

This is a DENSO product.

A license to enable the Compliance function with Force sensor.

There are two options: "Compliance function-activated" and "License only".

"Compliance function-activated" targets a newly purchased robot set. Ordering this option with a robot set will activate the Compliance function with force sensor 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 Compliance function with force sensor on your robot controller.

For about how to activate the function, please refer to "Activation of the Compliance Function with Force Sensor".

How to Connect Pins for D-sub 9 Pin Connector (Female)

Describe the pin connection by assigning a number for each pin on D-sub 9 pin connector (female) as shown below.

The following figure shows the pin connection between connectors (wiring table), Connect pins with referring to the followings.

ID : 1138

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