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 (24V DC). When you purchase the force sensor, this cable will be accompanied. For wiring to connect to the power supply (24V DC), refer to the instruction manual published on ATI Industrial Automation website.
(7) Power supply (24VDC) (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 : 24V Voltage range : 12V to 30V Maximum power consumption : 1.5W
(8) 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".

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 (24V DC).

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

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

(7) Power supply (24VDC)

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

(8) 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".

ID : 1143

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