Force-Torque-Sensors
Overview Force-Torque-Sensors
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Force-Torque-Sensors
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Content
General information .......................................................................................................................................... 3
Features ......................................................................................................................................................... 3
Specifis and benefits ...................................................................................................................................... 3
Accuracy ........................................................................................................................................................ 4
Repeatability.................................................................................................................................................. 4
Resolution ...................................................................................................................................................... 4
Data rates of the different F/T interfaces ......................................................................................................... 5
Typical applications ........................................................................................................................................... 5
FTN (Net F/T) – for industrial applications with BUS-communication .............................................................. 6
Product features ............................................................................................................................................ 6
FTD (DAQ F/T) – for data converting at the PC ................................................................................................. 7
Product features ............................................................................................................................................ 7
FTS (Controller F/T) – self-sustaining measuring system .................................................................................. 8
Product features ............................................................................................................................................ 8
TWE F/T – for research (integration in electronics provided by the customer)................................................ 9
Measurement uncertainties of Force-Torque-Sensors (FTN, FTD, FTS) .......................................................... 10
FT-Checklist...................................................................................................................................................... 13
Contact ............................................................................................................................................................ 14
Force-Torque-Sensors
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General information
The Force-Torque-Sensor (F/T) system
measures the full six components of force
and torque (Fx, Fy, Fz, Mx, My, Mz) using a
monolithic instrumented transducer. The F/T
transducer uses silicon strain gauges for
excellent noise immunity. The use of silicon
gages allows the F/T transducer to have high
stiffness and increased overload protection.
All transducer models are available with Net
F/T (FTN), DAQ F/T (FTD) or Controller F/T
(FTS) interfaces.
Different sizes of Force-Torque-Sensors
Features
The FTN, FTD, FTS, and TWE F/T each provide a variety of powerful functions:
tool transformations: translate and/or rotate the F/T reference frame.
demo software: allows configuration and basic data logging capabilities.
biasing: provides a convenient way to offset tool weight.
increased system throughput: is possible by reducing the number of axes of output (not
applicable to the FTN or TWE F/T).
threshold detection: eases integration into industrial applications (FTN and FTS only).
integral temperature compensation: insures accuracy over a wide temperature range.
Specifis and benefits
overload protection: the F/T transducer is extremely rugged and durable. All transducer
models can withstand up to 40 times higher overload.
high signal-to-noise ratio: silicon gages provide a signal 75 times stronger than
conventional foil gages. This signal is amplified resulting in near-zero noise distortion.
customized F/T transducers: can be designed and built to your specifications.
IP protection: transducer can be sealed to IP68 and Net Box to IP65.
Force-Torque-Sensors
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Accuracy
Accuracy is the difference between the applied load and the measurement output.
Accuracy is important when the exact load must be known. However, in most applications it is
more important to have repeatable data.
SCHUNK specs are based on Full Scale.
Example: Gamma SI-32-2.5
Name
Calibration
Fx
Fy
Fz
Tx
Ty
Tz
Gamma
SI-32-2.5
0.75%
1.00%
0.75%
1.00%
1.25%
1.00%
Fx range is 32 N, maximum error is 0.24 N.
Fz range is 100 N, maximum error is 0.75 N.
Repeatability
Repeatability is the difference between the measured outputs each time the same load is applied.
Often it is unimportant to know exactly the loads being measured. Instead, you should know that
the same load always produces the same output.
Resolution
Resolution is the smallest change in load that will produce a change in output.
The smaller the resolution, the greater the sensitivity. This is important when a “sense of touch” is
critical to the application.
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Data rates of the different F/T interfaces
Type
Output format
Output rate
Latency
7000 Hz
500 µs
FTN
standard mode
(Fieldbus, Ethernet)
RDT mode (Ethernet only)
7000 Hz
288 µs
16,67 kHz to
1/Output
Rate
FTD
digital
Filtering options
5 Hz to 838 Hz
digital filtering
averaging
41,67 kHz
560 Hz
FTS
2585 µs
serial / analog
averaging
2500 Hz
800 µs
Typical applications
Thousands of Force-Torque-Sensors are being used in a variety of applications such as:
robotic part insertion: mating or mounting by robots.
deburring, polishing, grinding: optimal results through a constant jacking force.
force torque feedback: control of manipulators in nuclear environments.
medicine: prosthetics research and simulation of surgeries.
product testing: haptic measurements for automotive components.
Roll hemming a metal plate
Grinding a water tap
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FTN (Net F/T) – for industrial applications with BUS-communication
Force-Torque-Sensor with cable and Net Box
Connects to systems via Ethernet, EtherNet/IP and/or CAN bus. The FTN's web browser interface
allows for easy configuration and set up.
The FTN sensor system measures six components of force and torque (Fx, Fy, Fz, Mx, My, Mz). The
FTN provides an EtherNet/IP and CAN bus communication interface and is compatible with
standard Ethernet. The FTN system is available with all of our transducer models.
Product features
fully ODVA™-compliant EtherNet/IP
interface.
environmental sealing is available. The
FTN interface (Net Box) is sealed to
IP65 (water splash-proof), most FTN
transducers and cables can be sealed
to IP68 (submergibility in fresh water,
to a depth of 10 meters).
powered by Power over Ethernet
(PoE) or by an external power supply
(11 V to 24 V).
up to 16 transducer calibrations can
be permanently stored in the system
and can be selected by the user.
Demo software for FTN
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FTD (DAQ F/T) – for data converting at the PC
Force-Torque-Sensor connected to PC
Connects to PC via standard data acquisition cards. The transducer's six strain gage outputs are
amplified and conditioned so they can be connected directly to the inputs of standard data
acquisition cards. After the strain gage voltages are digitized, software performs calibration matrix
calculations in the host computer to convert strain gage data.
Product features
highest available output rate.
high variety of data acquisition cards usable (PCI, PCI express, USB, PCMCIA, etc.).
dual calibration possible.
Force-Torque-Sensor with power supply box and data acquisition card
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FTS (Controller F/T) – self-sustaining measuring system
FTS controller
Connects to systems via RS-232, analog outputs and/or discrete I/O connections. The FTS interface
digitizes the transducer's six strain gage outputs and performs calibration matrix calculations to
convert strain gage voltages into forces and torques.
Product features
self-sustaining measuring system.
dual calibration possible.
directly configurable by PC because of already integrated RS-232 interface.
Measured forces and torques can be given out in terms of analog voltages (+- 5 V/+- 10 V).
Different connections of a controller
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TWE F/T – for research (integration in electronics provided by the customer)
The TWE (transducer without internal electronics) system requires customer-supplied
amplification and signal conditioning. This system consists of just the transducer (only F/T Nano
and Mini), calibration information and source code. Customers must supply the electrical
interface, amplification and signal conditioning according to our documentation. This requires a
high level of electronics skill and experience and a complete understanding of the user's manual.
Customers must also implement a software interface, but can use a supplied code for the
necessary calculations.
Sensor without internal electronics (TWE)
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Measurement uncertainties of Force-Torque-Sensors (FTN, FTD, FTS)
These values are the max. possible measurement errors.
Type of transducer
Calibration
Fx
Fy
Fz
Mx
My
Mz
Nano17 Titanium
SI-8-0.05
1.00% 1.00% 1.00% 1.25% 1.25% 1.25%
Nano17 Titanium
SI-16-0.1
1.00% 1.00% 1.00% 1.25% 1.25% 1.25%
Nano17 Titanium
SI-32-0.2
1.00% 1.00% 1.00% 1.25% 1.25% 1.25%
Nano17
SI-12-0.12
1.00% 1.00% 1.00% 1.50% 1.50% 1.75%
Nano17
SI-25-0.25
1.00% 1.00% 1.00% 1.50% 1.50% 1.75%
Nano17
SI-50-0.5
1.50% 1.50% 1.50% 1.50% 1.50% 1.75%
Nano17 IP65/IP68
SI-25-0.25
1.00% 1.00% 1.00% 1.75% 1.50% 1.75%
Nano17 IP65/IP68
SI-50-0.5
1.50% 1.50% 2.00% 1.50% 1.75% 2.00%
Nano25
SI-125-3
1.00% 1.00% 1.00% 1.25% 1.25% 1.25%
Nano25
SI-250-6
1.00% 1.00% 1.00% 1.50% 1.75% 1.75%
Nano25 IP65/IP68
SI-125-3
1.00% 1.00% 1.00% 1.25% 1.25% 1.25%
Nano25 IP65/IP68
SI-250-6
1.25% 1.25% 1.25% 2.00% 2.00% 1.50%
Mini40
SI-20-1
1.25% 1.00% 0.75% 1.25% 1.25% 2.00%
Mini40
SI-40-2
1.25% 1.25% 0.75% 1.25% 1.50% 1.50%
Mini40
SI-80-4
1.50% 1.25% 1.50% 1.25% 1.75% 1.25%
Mini45
SI-145-5
1.25% 1.00% 0.75% 1.25% 1.50% 1.25%
Mini45
SI-290-10
1.00% 0.75% 0.75% 1.00% 1.25% 1.25%
Mini45
SI-580-20
1.50% 1.25% 1.00% 1.25% 1.75% 1.00%
Mini58
SI-700-30
1.25% 1.25% 1.25% 1.25% 1.25% 2.25%
Mini58
SI-1400-60
1.25% 1.25% 1.25% 1.25% 1.25% 2.25%
Mini58
SI-2800-120 2.25% 2.25% 2.75% 1.25% 1.25% 2.25%
Mini85
SI-475-20
1.50% 1.50% 1.00% 1.25% 1.25% 1.25%
Mini85
SI-950-40
1.50% 1.50% 1.00% 1.25% 1.25% 1.25%
Mini85
SI-1900-80
1.50% 1.50% 1.00% 1.25% 1.75% 1.25%
Gamma
SI-32-2.5
0.75% 0.75% 0.75% 1.00% 1.25% 1.50%
Gamma
SI-65-5
0.75% 1.25% 0.75% 1.00% 1.00% 1.50%
Gamma
SI-130-10
1.00% 1.25% 0.75% 1.00% 1.25% 1.50%
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Type of transducer
Calibration
Fx
Fy
Fz
Mx
My
Mz
Gamma IP60
SI-32-2.5
1.00% 1.00% 0.75% 1.00% 1.00% 1.50%
Gamma IP60
SI-65-5
1.00% 1.00% 0.75% 1.00% 1.00% 1.50%
Gamma IP60
SI-130-10
1.00% 1.00% 0.75% 1.00% 1.00% 1.50%
Gamma IP65/IP68
SI-32-2.5
0.75% 1.00% 0.75% 1.00% 1.00% 1.50%
Gamma IP65/IP68
SI-65-5
0.75% 1.00% 1.00% 1.00% 1.25% 1.50%
Gamma IP65/IP68
SI-130-10
0.75% 1.00% 1.00% 1.00% 1.25% 1.50%
Delta
SI-165-15
1.00% 1.00% 1.00% 1.00% 1.00% 1.50%
Delta
SI-330-30
1.00% 1.00% 1.00% 1.25% 1.25% 1.50%
Delta
SI-660-60
1.25% 1.25% 1.50% 1.00% 1.25% 1.75%
Delta IP60
SI-165-15
1.00% 1.00% 1.00% 1.00% 1.00% 1.50%
Delta IP60
SI-330-30
1.00% 1.00% 1.00% 1.00% 1.00% 1.25%
Delta IP60
SI-660-60
1.25% 1.25% 1.50% 1.00% 1.25% 1.75%
Delta IP65/IP68
SI-165-15
1.50% 1.50% 1.50% 2.00% 2.00% 2.25%
Delta IP65/IP68
SI-330-30
1.50% 1.50% 1.50% 1.50% 1.50% 2.00%
Delta IP65/IP68
SI-660-60
1.75% 1.75% 2.50% 1.75% 1.75% 1.75%
Theta
SI-1000-120 1.00% 1.25% 0.75% 0.75% 1.00% 1.00%
Theta
SI-1500-240 1.25% 1.25% 1.00% 1.00% 1.00% 1.00%
Theta
SI-2500-400 1.25% 1.25% 1.50% 1.00% 1.00% 1.00%
Theta IP60
SI-1000-120 1.25% 1.00% 0.75% 1.25% 1.25% 1.00%
Theta IP60
SI-1500-240 1.25% 1.25% 1.00% 1.25% 1.00% 1.25%
Theta IP60
SI-2500-400 1.50% 1.25% 1.50% 1.25% 1.25% 1.50%
Theta IP65/IP68
SI-1000-120 1.25% 1.25% 1.00% 1.00% 1.00% 1.00%
Theta IP65/IP68
SI-1500-240 1.50% 1.25% 1.25% 1.00% 1.00% 1.00%
Theta IP65/IP68
SI-2500-400 1.50% 1.50% 2.00% 1.00% 1.25% 1.00%
Omega85
SI-475-20
1.50% 1.50% 1.00% 1.25% 1.25% 1.25%
Omega85
SI-950-40
1.50% 1.50% 1.00% 1.25% 1.25% 1.25%
Omega85
SI-1900-80
1.50% 1.50% 1.00% 1.25% 1.75% 1.25%
Omega85 IP65/IP68
SI-475-20
1.50% 1.50% 1.00% 1.25% 1.25% 1.25%
Omega85 IP65/IP68
SI-950-40
1.50% 1.50% 1.00% 1.25% 1.25% 1.25%
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Type of transducer
Calibration
Omega85 IP65/IP68
SI-1900-80
Fx
Fy
Fz
Mx
My
Mz
1.50% 1.50% 1.00% 1.25% 1.75% 1.25%
Omega160
SI-1000-120 1.00% 1.00% 0.75% 1.00% 1.00% 1.25%
Omega160
SI-1500-240 1.00% 1.00% 1.00% 1.00% 1.25% 1.75%
Omega160
SI-2500-400 1.25% 1.25% 1.50% 1.00% 1.25% 1.25%
Omega160 IP60
SI-1000-120 1.25% 1.00% 0.75% 1.00% 1.25% 1.25%
Omega160 IP60
SI-1500-240 1.25% 1.00% 1.00% 1.00% 1.25% 1.25%
Omega160 IP60
SI-2500-400 1.25% 1.25% 1.50% 1.00% 1.25% 1.25%
Omega160 IP65/IP68
SI-1000-120 1.25% 1.25% 0.75% 1.00% 1.00% 1.25%
Omega160 IP65/IP68
SI-1500-240 1.50% 1.50% 1.25% 1.00% 1.25% 1.25%
Omega160 IP65/IP68
SI-2500-400 2.00% 1.75% 2.50% 1.25% 1.50% 1.75%
Omega190
SI-1800-350 1.50% 1.75% 1.00% 1.25% 2.00% 1.00%
Omega190
SI-3600-700 2.75% 2.50% 2.00% 1.25% 2.00% 1.00%
Omega190
Omega190 IP60
SI-72006.00% 4.50% 3.50% 1.75% 3.00% 2.00%
1400
SI-1800-350 2.25% 2.25% 1.50% 2.25% 2.25% 1.25%
Omega190 IP60
SI-3600-700 3.25% 3.25% 2.75% 2.25% 2.25% 1.75%
Omega190 IP60
Omega190 IP65/IP68
SI-72006.00% 6.00% 5.25% 3.25% 3.25% 2.50%
1400
SI-1800-350 2.25% 2.25% 1.50% 1.75% 2.00% 1.75%
Omega190 IP65/IP68
SI-3600-700 3.25% 3.25% 2.75% 1.75% 2.00% 1.75%
Omega190 IP65/IP68
SI-72006.00% 6.00% 5.25% 2.50% 3.00% 3.75%
1400
SI-4000-500 4.00% 4.00% 4.00% 5.00% 5.00% 9.00%
Omega250
IP60/IP65/IP68
Omega250
IP60/IP65/IP68
Omega250
IP60/IP65/IP68
Omega331
Omega331
Omega331
SI-80001000
SI-160002000
SI-100001500
SI-200003000
SI-400006000
4.00% 4.00% 4.00% 5.00% 5.00% 9.00%
4.00% 4.00% 4.00% 5.00% 5.00% 8.75%
7.00% 7.00% 7.00% 7.00% 7.00% 7.00%
7.00% 7.00% 7.00% 7.00% 7.00% 7.00%
7.00% 7.00% 7.00% 7.00% 7.00% 7.00%
Force-Torque-Sensors
FT-Checklist
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Force-Torque-Sensors
Contact
For technical support and information please contact us:
SCHUNK online catalogue
Weblink to SCHUNK Force-Torque-Sensor online catalogue page
SCHUNK GmbH & Co. KG
SCHUNK Homepage
SCHUNK subsidiaries
SCHUNK worldwide
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