Standard Calibrations (US)
| Calibration | Fx,Fy | Fz | Tx,Ty | Tz | Fx,Fy | Fz | Tx,Ty | Tz |
| US-30-40 | 30 lbf | 60 lbf | 40 lbf-in | 40 lbf-in | 1/80 lbf | 1/80 lbf | 1/88 lbf-in | 1/176 lbf-in |
| US-60-80 | 60 lbf | 120 lbf | 80 lbf-in | 80 lbf-in | 1/40 lbf | 1/40 lbf | 1/44 lbf-in | 1/88 lbf-in |
| US-120-160 | 120 lbf | 240 lbf | 160 lbf-in | 160 lbf-in | 1/20 lbf | 1/20 lbf | 1/22 lbf-in | 1/44 lbf-in |
| | SENSING RANGES | RESOLUTION |
View Standard (US) Complex Loading Graph
Metric Calibrations (SI)
| Calibration | Fx,Fy | Fz | Tx,Ty | Tz | Fx,Fy | Fz | Tx,Ty | Tz |
| SI-145-5 | 145 N | 290 N | 5 Nm | 5 Nm | 1/16 N | 1/16 N | 1/752 Nm | 1/1504 Nm |
| SI-290-10 | 290 N | 580 N | 10 Nm | 10 Nm | 1/8 N | 1/8 N | 1/376 Nm | 1/752 Nm |
| SI-580-20 | 580 N | 1160 N | 20 Nm | 20 Nm | 1/4 N | 1/4 N | 1/188 Nm | 1/376 Nm |
| | SENSING RANGES | RESOLUTION |
View Metric (SI) Complex Loading Graph
*The resolution is typical for most applications and can be improved with filtering.
**Resolutions quoted are the effective resolution after dropping four counts of noise.
***Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.
ATI's F/T calibrations are traceable to the National Institute of Standards and Technology (NIST). ATI certifies sensors are calibrated in accordance with
applicable ATI procedures. These procedures are compliant with the ISO 9001 standard to ensure that products are within ATI specifications.
Contact your sales representative for accuracy information.
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Single-Axis Overload
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Fxy
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±5100 N
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Fz
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±10000 N
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Txy
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±110 Nm
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Tz
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±140 Nm
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Stiffness (Calculated)
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X-axis & Y-axis forces (Kx, Ky)
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7.4x107 N/m
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Z-axis force (Kz)
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9.8x107 N/m
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X-axis & Y-axis torque (Ktx, Kty)
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1.7x104 Nm/rad
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Z-axis torque (Ktz)
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3.5x104 Nm/rad
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Resonant Frequency
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Fx, Fy, Tz
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5600 Hz
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Fz, Tx, Ty
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5400 Hz
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Physical Specifications
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Weight*
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0.0917 kg
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Diameter*
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45 mm
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Height*
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15.7 mm
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* Specifications include standard interface plates.
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| 9230-05-1094.pdf |
Legacy Mini45-A (axial exit) and Mini40-R (radial exit)
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| 9230-05-1315.pdf |
Mini45-E Tranducer
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| 9230-05-1338.pdf |
Mini45-ERA Transducer Drawing
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| 9230-05-1431.pdf |
Mini45-AE Tranducer Drawing
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F/T Documents
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Net F/T
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Net F/T Manual
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For customers who wish to access F/T data over a network. Must be able to use ATI software or write their own networking software. (Contact ATI for the manual for firmware versions earlier than 2.0.00)
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Net F/T OEM Manual
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For customers who build their own Net F/T Box or integrate the Net Box components into an existing housing.
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NETB Drawing
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Drawing of the Net Box, used with 9105-NET-x sensors with internal digitization electronics. Most NET F/T Gamma/Delta/Omega/Theta model sensors will use this box.
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NETBA Drawing
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Drawing of the Net Box with analog board, used with NET F/T Nano/Mini sensors or other sensors without internal electronics.
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NETB-PN2 Drawing
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Drawing of the Net Box with Profinet and AIDA push-pull connectors.
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Wireless F/T
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EtherCAT F/T
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EtherCAT Manual
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For customers who want information for initial setup and installation for the EtherCAT F/T System (For ECAT Axia sensors use the ECAT Axia F/T Manual below).
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Digital F/T
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Digital F/T Manual
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For customers who access F/T data over a high-speed RS-485 bus (For RS485 Axia sensors use the Serial Axia F/T manual below).
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DAQ F/T
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DAQ F/T Manual
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For customers interfacing to a computer DAQ board. Must be able to run ATI software.
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PS-1 DAQ Power Supply Drawing
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Drawing of the power supply box used with 9105-TIF-x sensors with internal amplification electronics. Most DAQ F/T Gamma/Delta/Omega/Theta model sensors will use this box.
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Controller F/T
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TWE F/T
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TWE F/T Manual
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For customers who will design their own signal conditioning and ampification. Should only be considered for Nano and Mini transducers.
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Axia F/T
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9230-05-1543
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Axia80 Force/Torque Sensor Product Family – Drawing
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ECAT Axia80 F/T Manual
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For Axia80 customers who wish to access F/T data on robots with EtherCAT communications.
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ECAT Axia90 F/T Manual
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For Axia90 customers who wish to access F/T data on robots with EtherCAT communications.
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9630-05-0006
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Axia130 Force/Torque Sensor Product Family – Drawing
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Robot Specific F/T |
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9105-UR-Axia80 Kit Drawing
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This drawing is not currently available. Please see either CB or E manual below or contact F/T Applications Support for details.
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Transducer Section
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Transducer Section Manual
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For use with all of the above manuals. Contains Specifications, Physical Properties, Drawings, etc. of all Transducer models.
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Software Documentation
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F/T Data Viewer Manual
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For customers using the F/T Data Viewer PC program to view and log data from NET F/T, Ethernet Axia, and RS485 Axia sensors.
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Addendums
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| 9105-TW-MINI45-R |
Mini45 F/T transducer with radial-exit cable
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| 9105-TW-Mini45SS-R |
Mini45 Transducer with Radial Cable, Stainless Steel Adpater Plate and Fasteners
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| 9105-TW-MINI45-AE-X.X |
Mini45 F/T transducer with axial exit strain-relieved cable
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| 9105-TW-Mini45SS-A |
Mini45 Transducer with Axial Cable, Stainless Steel Adapter Plate and Fasteners
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| 9105-TW-Mini45-ERA |
Mini45 F/T Transducer with Right Angled Strain Relieved
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| 9105-TW-Mini45-A |
MINI45 Transducer with Axial Cable
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| 9105-TW-MINI45-E |
9105-TW-MINI45-E
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