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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Figure 4.18—Equations
Where:
Center of Gravity (CG):
The point of a mass around which the resultant torque from gravity forces is zero.
Customer’s Center of Gravity in the X, Y, Z Direction:
The distance in mm from the F/T sensor’s sensing reference frame origin (refer to
) to the center of gravity of the customer’s tooling.
This should include the mass and location of all customer-provided fasteners and not
ATI-provided parts.
The location of a center of gravity can be found in most CAD packages used to
design robot tooling.
Customer’s Tooling Mass:
The mass of the customer’s tooling that includes all fasteners not provided by ATI, in
kilograms.
F/T Mass:
The mass of the F/T sensor including the interface plate and all hardware required to
connect the F/T sensor to the robot.
The F/T mass does not include any hardware the customer uses to mount
tooling to the F/T sensor.