: F/T Sensor nano43

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F/T Sensor: nano43

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Product Advantages

One of the Smallest 6-axis Transducers in the World: The Nano43 is our thinnest transducer model available and allows linkages and cables to pass through its center hole.
Extremely-High Strength: EDM wire-cut from high yield-strength stainless steel. Maximum allowable single-axis overload values are 6.4 to 28.5 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.<

Typical Applications

Telerobotics
Robotic surgery
Robotic-hand research
Finger-force research

Nano43 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-2-1	2 lbf	2 lbf	1 lbf-in	1 lbf-in	1/2320 lbf	1/2320 lbf	1/4640 lbf-in	1/4640 lbf-in
US-4-2	4 lbf	4 lbf	2 lbf-in	2 lbf-in	1/1160 lbf	1/1160 lbf	1/2320 lbf-in	1/2320 lbf-in
US-8-4	8 lbf	8 lbf	4 lbf-in	4 lbf-in	1/580 lbf	1/580 lbf	1/1160 lbf-in	1/1160 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-9-0.125	9 N	9 N	125 Nmm	125 Nmm	1/512 N	1/512 N	1/40 Nmm	1/40 Nmm
SI-18-0.25	18 N	18 N	250 Nmm	250 Nmm	1/256 N	1/256 N	1/20 Nmm	1/20 Nmm
SI-36-0.5	36 N	36 N	500 Nmm	500 Nmm	1/128 N	1/128 N	1/10 Nmm	1/10 Nmm
	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	±300 N
Fz	±380 N
Txy	±3.2 Nm
Tz	±4.6 Nm
Stiffness (Calculated)
X-axis & Y-axis forces (Kx, Ky)	5.2x10⁶ N/m
Z-axis force (Kz)	5.2x10⁶ N/m
X-axis & Y-axis torque (Ktx, Kty)	7.7x10² Nm/rad
Z-axis torque (Ktz)	1.1x10³ Nm/rad
Resonant Frequency
Fx, Fy, Tz	2800 Hz
Fz, Tx, Ty	2300 Hz
Physical Specifications
Weight*	0.0387 kg
Diameter*	43 mm
Height*	11.5 mm

* Specifications include standard interface plates.

F/T Documents

Net F/T

Net F/T Manual		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)

Net F/T Quick Start Manual		For customers who want information for initial setup and installation for the Net F/T system.

Net F/T OEM Manual		For customers who build their own Net F/T Box or integrate the Net Box components into an existing housing.

F/T CAN Bus and Serial Bus Network Interface for OEM Manual		For customers who integrate the F/T sensor into a light weight robot arm or a mobile robot with CAN Bus or RS485 communication interface.

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 Manual		For customers interfacing to a computer DAQ board. Must be able to run ATI software.

	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.

Controller F/T

	F/T Controller Manual		For customers who will not use a computer or cannot run ATI software.

TWE F/T

	TWE F/T Manual		For customers who will design their own signal conditioning and ampification. Should only be considered for Nano and Mini transducers.

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.

Transducer Section

	Transducer Section Manual		For use with all of the above manuals. Contains Specifications, Physical Properties, Drawings, etc. of all Transducer models.

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.

Addendums

Compliance Devices