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 4.2
—Sensor Measuring Offset (with mounting interface plate)
Axis
Sensor and Mounting Interface 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 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.
2.
Different sensor models and mounting plates have different measurements.
Table 4.3—Sensor Center of Gravity (with mounting interface plate)
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 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.
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 4.14—Center of Gravity Diagram
Robot Arm
22.8 mm
46.4 mm
in the Z direction
Customer’s CG
CG of ATI FT Sensor
and mounting interface plate
CG Total
CG Customer’s Tooling
