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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4.4.2
Tooling Mass and Offset for Sensor with Mounting and Tool Interface
Plates
The ATI provided F/T sensor with mounting and tool interface plates have the following mass
characteristics, measuring offset, and CG with no customer tooling installed (for more information,
refer to the
):
Figure 4.16
— Mass and Offset
Robot Flange
Mass of mounting interface plate
Mass of tool interface plate
Mass of ATI Ethernet Axia Sensor
Sensor Reference Frame
+
+
= 0.791 kg
58.3 mm
Table 4.4—Mass of a Sensor with Mounting and Tool Interface Plates
Sensor and Interface Plate Models
ATI Axia F/T
Sensor with
Mounting
and Tool
Interface
Plates
ATI F/T Ethernet Sensor with Custom Interface Plates
2
Mass
0.791 kg
1
mass (refer to the
of the mounting interface plate + mass of the tool interface plate
Notes:
1.
This value assumes the use of an ATI F/T Axia80 sensor and ATI 9105-IP-2126 mounting
interface plate and ATI 9105-IP-2191 tool interface plate.
2.
Different sensor models and interface plates have different measurements.
