Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series
Document #9610-05-1036-07
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 •
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Table 4.5
—Measuring Offset with Mounting Interface Plate
Axis
Sensor and Mounting Interface Plate Models
ATI Axia F/T
Sensor with
Mounting
Interface Plate
ATI F/T Ethernet Sensor with Custom Mounting
Interface Plate
2
X
0 m
1
distance from the center of the robot flange
to the center of the sensor reference face
Y
0 m
1
Z
0.0464 m
1
Notes:
1.
This value assumes the use of an ATI F/T Axia80 sensor and ATI 9105-IP-2126 mounting
interface plate. Tooling offsets, including interface plates, are not accounted for in sensor
measuring offset.
2.
Different sensor models and mounting plates have different measurements.
Table 4.6—Center of Gravity of a Sensor with Mounting and Tool Interface Plates
Axis
Sensor and Mounting Plate Models
ATI Axia F/T
Sensor and
ATI Mounting
Interface Plate
ATI F/T Ethernet Sensor and Custom Mounting
Interface Plate
2
X
0 m
1
distance from the center of the robot flange
to the center of the CG of the sensor and custom mounting
interface plate
Y
0 m
1
Z
0.0228 m
1
Notes:
1.
This value assumes the use of an ATI F/T Axia80 sensor and ATI 9105-IP-2126 mounting
interface plate. Tooling, including interface plates, is not accounted for in the sensor center
of gravity.
2.
Different sensor models and mounting plates have different measurements.
Use the following equations in
to determine the values to enter in the fields of the
TCP
screen. Use the following diagram as a reference for the equations.
Figure 4.17—Center of Gravity Diagram
Robot Arm
31.2 mm
58.3 mm
in the Z direction
Customer’s CG
CG of FT Sensor
Mounting and Tool Interface Plates
CG Total
CG Customer’s Tooling
