ATI Industrial Automation: F/T Sensor Mini45

The Mini45 has a compact, low-profile design with high capacity and a through-hole to allow passage of linkages or cables.
Extremely-High Strength: EDM wire-cut from high yield-strength stainless steel. Maximum allowable overload values are 5.7 to 25.3 times rated capacities.
High Signal-to-Noise Ratio: Silicon strain gages provide a signal 75 times stronger than conventional foil gages. This signal is amplified, resulting in near-zero noise distortion.
Industrial Strain Relief Version Available: E-exit strain relieved version of this transducer is available and offers resistance to a 10 lb cable pull force. E-exit is offered in axial, radial, and right-angle configurations.
IP65 and IP68 (10m) Versions Available: The IP65 version of the transducer is protected against water spray. The IP68 version is submergible in fresh water to a depth of 10 meters.

Typical Applications

Telerobotics
Robotic surgery
Robotic-hand research
Finger-force research

Mini45-E Transducer

Select a system type. (For more information on system types, please see our F/T Product Description page.)

16-Bit DAQ, ECAT, Net, TWE or WNet F/T System

Controller F/T System

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.

US (Standard)

SI (Metric)

Single-Axis Overload
Fxy	ｱ5100 N
Fz	ｱ10000 N
Txy	ｱ110 Nm
Tz	ｱ140 Nm
Stiffness (Calculated)
X-axis & Y-axis forces (Kx, Ky)	7.4x10⁷ N/m
Z-axis force (Kz)	9.8x10⁷ N/m
X-axis & Y-axis torque (Ktx, Kty)	1.7x10⁴ Nm/rad
Z-axis torque (Ktz)	3.5x10⁴ Nm/rad
Resonant Frequency
Fx, Fy, Tz	5600 Hz
Fz, Tx, Ty	5400 Hz
Physical Specifications
Weight*	0.0917 kg
Diameter*	45 mm
Height*	15.7 mm

* Specifications include standard interface plates.

F/Tマニュアル

ネットF/T

ネットF/Tマニュアル		ネットワーク経由でF/Tデータにアクセスすることをお望みのお客様向け。ATIソフトウェアを実行できるか、ご自身のネットワーク接続ソフトウェアを書ける必要があります。（ファームウェアバージョン2.0.00以前のマニュアルについては、ATIにお問い合わせください。）

ネットF/Tクイックスタートマニュアル		ネットF/Tシステムの初期セットアップおよびインストールについて情報をお求めのお客様向け。

ネットF/T OEMマニュアル		ご自身のネットF/Tボックスを構築するか、またはネットボックスコンポーネントを既存のハウジングに統合するお客様向け。

OEM用F/T CANバスおよびシリアルバスネットワークインターフェイスマニュアル		CANバスまたはRS485通信インターフェイスを用いて軽量ロボットアームまたは移動ロボットにF/Tセンサを統合するお客様向け。

NETB Drawing		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.

NETBA Drawing		Drawing of the Net Box with analog board, used with NET F/T Nano/Mini sensors or other sensors without internal electronics.

NETB-PN2 Drawing		Drawing of the Net Box with Profinet and AIDA push-pull connectors.

Wireless F/T

	Wireless F/T Manual		Describes the use and operation of a Wireless F/T system.

EtherCAT F/T

	EtherCAT Manual		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).

	EtherCAT F/T Interface for OEM Manual – ECATOEM		For customers who integrate the F/T sensor EtherCAT communication board (9105-ECATOEM) into a custom housing.

Digital F/T

	Digital F/T Manual		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).

DAQ F/T

	DAQ F/Tマニュアル		コンピュータのDAQボードに接続するお客様向け。ATIソフトウェアを実行できる必要があります。

	Radiation-Tolerant DAQ F/T Addendum		Covers the electrical and software interfaces to the radiation-tolerant version of the DAQ F/T.

	PS-1 DAQ Power Supply Drawing		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.

	IFPS-1 – DAQ Interface Power Supply Drawing		Drawing of the interface power supply box used with DAQ F/T Nano/Mini sensors or other sensors without internal electronics.

F/Tコントローラ

	F/Tコントローラマニュアル		コンピュータを使わないか、ATIソフトウェアを使用できないお客様向け。

TWE F/T

	TWE F/Tマニュアル		ご自身の信号を調節、増幅する設計を行うお客様向け。NanoおよびMiniトランスデューサの場合にのみ検討してください。

Axia F/T

	9230-05-1543		Axia80 Force/Torque Sensor Product Family – Drawing

	ECAT Axia80 F/T Manual		For Axia80 customers who wish to access F/T data on robots with EtherCAT communications.

	Ethernet Axia80 F/T Manual		For Axia80 customers who wish to access F/T data using a web interface and UDP or TCP protocols.

	RS422 Axia80 F/T Manual		For Axia80 customers who wish to access F/T data using RS422 serial communications.

	RS485 Axia80 F/T Manual		For Axia80 customers who wish to access F/T data using serial communications.

	9630-05-0007		Axia90 Force/Torque Sensor – Drawing

	ECAT Axia90 F/T Manual		For Axia90 customers who wish to access F/T data on robots with EtherCAT communications.

	Ethernet Axia90 F/T Manual		For Axia90 customers who wish to access F/T data using a web interface and UDP or TCP protocols.

	RS422 Axia90 F/T Manual		For Axia90 customers who wish to access F/T data using RS422 serial communications.

	9630-05-0006		Axia130 Force/Torque Sensor Product Family – Drawing

	ECAT Axia130 F/T Manual		For Axia130 customers who wish to access F/T data on robots with EtherCAT communications.

	Ethernet Axia130 F/T Manual		For Axia130 customers who wish to access F/T data using a web interface and UDP or TCP protocols.

	RS422 Axia130 F/T Manual		For Axia130 customers who wish to access F/T data using RS422 serial communications

Robot Specific F/T

	9105-UR-Axia80 Kit Drawing		This drawing is not currently available. Please see either CB or E manual below or contact F/T Applications Support for details.

	9105-URe-Axia80 Kit Drawing		Drawing and datasheet of URe Robot Kit with RS485 Axia80-M20 F/T Sensor (compatible with E-series only)

	9105-TM-Axia80 Kit Drawing		Drawing and datasheet of TM Robot Kit with ECAT Axia80-M20 F/T Sensor.

	9105-HCR-Axia80 Kit Drawing		Drawing and datasheet of Hanwha Robot Kit with ECAT Axia80-M20 F/T Sensor.

	Universal Robots (CB) F/T Manual		For customers who wish to access F/T data via a URCap for UR robots(CB series)

	Universal Robots (E) F/T Manual		For customers who wish to access F/T data via a URCap for URe robots (E series)

	UR Programming and Demo Guide		For customers using the ATI F/T URCap to program Universal Robots.

	TM Robots Axia80 F/T Manual		For customers using an EtherCAT Axia80 with TM robots.

トランスデューサセクション

	トランスデューサセクションマニュアル		上記マニュアルすべてと併せてお使いください。全トランスデューサモデルの仕様、物理的特性、図面等が含まれています。

Software Documentation

	F/T Data Viewer Manual		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.

補遺

ATI Industrial Automation
1031 Goodworth Dr. | Apex, NC 27539 USA
電話:+1 919-772-0115 | Fax:+1 919-772-8259

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