Manual, Collision Sensor,SR‑82
Document #9610‑60‑1007‑08
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com
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3.3.1.2 Obtain Required Pressure Setting
The pressure setting required can be approximated from the following formula:
P = Pm + Pt + Pf + Pm
A
+ Pt
A
Where
Pm
,
Pt
, and
Pf
are the pressure components related to the moment, torque,
and force load components expected at the break‑away.
Pm
A
and
Pt
A
are the dynamic
versions of
Pm
and
Pt
. Dynamic forces from axial loading can usually be ignored
since the robot is usually not accelerating in the axial direction.
Pm
,
Pt
, and
Pf
are
calculated using the following formulas, where
M
,
T
, and
F
are the expected loads at
the set pressure break‑away:
English Units: lb‑in, psi, lb
Metric Units: N‑m, Bar, N
Pm = (M x 1.72) – 0.2
Pm = (M x 0.1052)
Pt = (T x 0.168) – 0.8
Pt = (T x 0.1027) – 0.1
Pf = F x 0.233
Pf = F x 0.00361
Pm
A
and
Pt
A
are calculated using the following formulas where
A
is the maximum
acceleration in gravities (
G
’s):
English Units: lb‑in, psi, G’s
Metric Units: N‑m, Bar, G’s
Pm = (M x 1.72 x A) – 0.2
Pm = (M x 0.1052 x A)
Pt = (T x 0.168 x A) – 0.8
Pt = (T x 0.1027 x A) – 0.1
Example: For an SR‑82 with a static moment load of 100 lb‑in, a static torque
load of 50 lb‑in, no axial load, and an acceleration of 2
G
’s, the pressure setting is
calculated as follows:
P = [(100 lb‑in x 1.72) – 0.2] + [(50 lb‑in x 0.168) – 0.8] +[(100 lb‑in x
1.72 x 2Gs) ‑ 0.2]
= 17 psi + 7.6 psi + 34.2 psi
= 58.8 psi
A nominal air pressure setting of 59 psi is required.
NOTICE:
If the calculated pressure required is above 90 psi do not install the unit.
Contact ATI to determine the correctly sized collision sensor model for
the application.
If the unit is equipped with P05 (5 psi equivalent), P10 (10 psi equivalent, or
P15 (15 psi equivalent) preload spring, subtract this pressure to determine
the actual pressure to be supplied.
