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40 Force Control Products
2.1.6.
Type VII Force Sensor
2.1.6.1 Overview
The strain-type six-axis F/T sensor can measure the forces and torques in 3 directions simultaneously (As a
1D force sensor, VII-400NS sensor can only measure one force). The six-axis F/T sensor generally has two
ends: the fixed end (robot end) and the loading end (tool end). When the two ends are exposed to relative
force, the sensor deforms elastically and the resistance strain gauge inside the sensor changes, which is
converted into a voltage output signal.
The output forces and torques of the six-axis F/T sensor are relative to the force coordinate system, which is
generally located at the geometric center of the sensor. The sensor coordinate system is defined as shown in
Figure 2-37.
Figure 2-37 Definition of the Sensor Coordinate System
2.1.6.2 Sensor Installation
Sensor dimensions, positions of the fixed end (robot end) and the loading end (tool end), and the installation
method are shown in Figure 2-38. Due to variations in sensor models and batches, the actual size may differ
from what is indicated in Figure 2-38. Please contact us for detailed size information. The cable and interface
are all fixed on the fixed end. To prevent the swinging or pulling of the cable from affecting the force sensor
measurements, the robot should be fixed during installation, and the bolts should be installed from the
direction of the tool end.
Gradually tighten the screws according to the diagonal sequence to deliver uniform contact between the
sensor and the robot or adapter tooling.
a.
Please ensure that the surfaces of the robot end, adapter plate and sensor are free of damage or
foreign objects. If the contact is non-uniform due to factors such as the inclusion of foreign objects,
gaps will be formed between them. As a result, the product may not meet IP64 compliance and would
have reduced output quality.
b.
The positioning pins make it easy to install and connect the device repeatedly, and they will not affect
sensor performance if not used.