ATI Technologies DAQ F User manual

Engineered Products for Manufacturing Productivity
Pinnacle Park, 1031 Goodworth Drive, Apex, NC 27539 USA Tel: [phone]. Fax: [phone]. Email: [e-mail]
DAQ F/T
Multi-Axis Force/Torque
Sensor System
Installation and Operation Manual
Document #: 9610-05-1017-06
October 2003

F/T DAQ Installation and Operation Manual
Document #9610-05-1017-06
ATI Industrial Automation, 1031 Goodworth Drive, Apex, NC 27539 USA [phone] www.ati-ia.com
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F/T DAQ Installation and Operation Manual
Document #9610-05-1017-06
ATI Industrial Automation, 1031 Goodworth Drive, Apex, NC 27539 USA [phone] www.ati-ia.com
3
Forward
Information contained in this document is the property of ATI Industrial Automation, Inc. and shall not be reproduced
in whole or in part without prior written approval of ATI Industrial Automation, Inc. The information herein is subject
to change without notice and should not be construed as a commitment on the part of ATI Industrial Automation, Inc.
This manual is periodically revised to reflect and incorporate changes made to the F/T system.
ATI Industrial Automation, Inc. assumes no responsibility for any errors or omissions in this document. Users' critical
evaluation is welcome to assist in the preparation of future.
Copyright©by ATI Industrial Automation, Inc., Apex, North Carolina USA. All Rights Reserved.
Published in the USA.
In consideration that ATI Industrial Automation, Inc. (ATI) products are intended for use with robotic and/or
automated machines, ATI does not recommend the use of its products for applications wherein failure or malfunction
of a ATI component or system threatens life or makes injury probable. Anyone who uses or incorporates ATI
components within any potentially life threatening system must obtain ATI’s prior consent based upon assurance to
ATI that a malfunction of ATI’s component does not pose direct or indirect threat of injury or death, and (even if such
consent is given) shall indemnify ATI from any claim, loss, liability, and related expenses arising from any injury or
death resulting from use of ATI components.
All trademarks belong to their respective owners
Windows, Visual Basic and Excel are registered trademarks of Microsoft Corporation.
LabVIEW is a registered trademark of National Instruments Corporation.
FCC Compliance - Class B
This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions: 1) This device may
not cause harmful interference, and 2) this device must accept any interference received, including interference that may cause
undesired operation.
Any modifications to the device could impact compliance. It is the user’s responsibility to certify the device remains compliant
after modifications
CE Conformity
This device complies with EMC Directive 89/336/EEC and conforms to the following standards: ENS5011:1998, ANSI
C63.4:1992, ENG1000-4-2:1995, ENG1000-4-3:1995, ENG1000-4-6:1995.

F/T DAQ Installation and Operation Manual
Document #9610-05-1017-06
ATI Industrial Automation, 1031 Goodworth Drive, Apex, NC 27539 USA [phone] www.ati-ia.com
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Aside
Please read the manual before calling customer service. Before calling, have the
following information available:
1. Serial number (e.g.; FT01234)
2. Transducer model (e.g.; Nano17, Gamma, Theta, etc.)
3. Calibration (e.g.; US-15-50:5V, SI-65-5:10V, etc.)
4. Accurate and complete description of the question or problem
5. Computer and software information. Operating system, PC type, drivers,
application software and other relevant information about your configuration.
If possible be near the F/T system when calling.
How to Reach Us
Sales, Service and Information about ATI products:
ATI Industrial Automation
1031 Goodworth Drive
Apex, NC 27539 USA
www.ati-ia.com
Tel: [phone]
Fax: [phone]
E-mail: [email protected]om
Technical support and questions:
Application Engineering
Tel: [phone], Option 2, Option 1
Fax: [phone]
E-mail: ft_suppor[email protected]

F/T DAQ Installation and Operation Manual
Document #9610-05-1017-06
ATI Industrial Automation, 1031 Goodworth Drive, Apex, NC 27539 USA [phone] www.ati-ia.com
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Quick Start
Perform the following steps to get your system installed and running on your Windowscomputer
system.
Installing Data Acquisition Card
1. Install the National Instruments data acquisition hardware and software following the
instructions included with the National Instruments product. When finished you should have
installed the data acquisition hardware and the program Measurement & Automation (MAX).
Installing ATI Software
2. Place the ATI Industrial Automation CD in your computer. The installation program should
start automatically. If it does not start automatically you will need to run SETUP.EXE found in
the root directory of the CD. Follow the installation instructions given by the program. This
software is for Windows95 and later Windowsoperating systems.
3. View the README.TXT file found in the root directory of the CD.
4. Copy your transducer’s calibration file from the CD directory Calibration to the ATI DAQ FT
directory on your computer (this directory was created when you installed the software). The
calibration file name is based on the transducer’s serial number and is in the format
FTxxxx.CAL.
Connecting Transducer Hardware
5. Connect the transducer to the Power Supply Box or Interface Box/Power Supply with the
appropriate cable.
6. Connect the Power Supply Box or Power Supply/Interface Box to the data acquisition
hardware using the supplied cable.
7. Run the demo program found in the Start menu under Programs/ATI DAQ FT/ATI DAQ FT
Demo.
8. Click on the menu File, then Open Calibration. Find the calibration data file you saved earlier
and click the Open button.. Select the file with the name similar to FTxxxx.CAL and click on
the Open button.
9. You can find program samples in the CD directory SAMPLES.
Please contact ATI for any information you may need for installation and configuration of your new
system.
CAUTION: Each transducer has a maximum measurement range and a
maximum overload capacity. Exceeding the transducer’s overload capacity
can cause permanent damage. Smaller transducers have lower overload
capacities. Torque in X and Y are usually the easiest axes to accidentally
overload.
!

F/T DAQ Installation and Operation Manual
Document #9610-05-1017-06
ATI Industrial Automation, 1031 Goodworth Drive, Apex, NC 27539 USA [phone] www.ati-ia.com
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Table of Contents
1. Getting Started ....................................................................................................... 11
1.1 Introduction......................................................................................................................11
1.2 Unpacking........................................................................................................................11
1.3 System Components Description....................................................................................12
1.3.1 Transducer..........................................................................................................12
1.3.2 Transducer Cable ...............................................................................................12
1.3.3 Power Supply and Interface/Power Supply Boxes..............................................13
1.3.4 Power Supply Cable............................................................................................13
1.3.5 Data Acquisition System.....................................................................................13
1.3.6 F/T Software CD.................................................................................................13
1.3.7 Interface Plates...................................................................................................14
1.4 Connecting the System Components.............................................................................. 14
1.4.1 Connecting the Transducer Cable......................................................................14
1.4.2 Installing the Data Acquisition Hardware ............................................................14
1.4.3 Connecting to the Data Acquisition Hardware ....................................................15
1.4.4 Testing with the ATI DAQ Demo on a WindowsComputer..............................15
2. Installation.............................................................................................................. 17
2.1 Introduction......................................................................................................................17
2.2 Routing the Transducer Cable ........................................................................................17
2.3 Mounting the Transducer ................................................................................................17
2.3.1 Transducer Mounting Method I:..........................................................................17
2.3.2 Transducer Mounting Method II:.........................................................................18
2.4 Mounting Your Tool.........................................................................................................19
3. How It Works .......................................................................................................... 21
3.1 Introduction......................................................................................................................21
3.2 Mechanical Description ...................................................................................................21
3.3 Electronic Hardware........................................................................................................22
4. ATI DAQ Software................................................................................................... 23
4.1 Reusable Software Components.....................................................................................23
4.1.1 ATI DAQFT Automation Server ..........................................................................23
4.1.2 C Library..............................................................................................................23
4.2 Sample Applications........................................................................................................23
4.2.1 WindowsDemo (Visual Basic 6.0)....................................................................23
4.2.2 LabVIEW Sample ...............................................................................................23
4.3 Designing Your DAQ F/T Application..............................................................................24
4.3.1 Device Drivers for Your DAQ Device and Target Operating System..................24
4.3.2 ATI DAQ F/T Components or C Library..............................................................24
5. Electrical Connection Information........................................................................ 25
5.1 Signals and Power...........................................................................................................25
5.2 Electrical Specifications...................................................................................................26

F/T DAQ Installation and Operation Manual
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5.2.1 PS and IFPS box with transducer attached........................................................26
5.2.2 Transducer with Onboard Interface Board..........................................................26
5.2.3 Transducer Output Signals.................................................................................26
5.3 Transducer Signals .........................................................................................................26
5.4 PS and IFPS Signals.......................................................................................................27
5.4.1 PS 20-pin Circular Connector............................................................................. 27
5.4.2 PS and IFPS 26-pin High Density D-Subminiature Connector ...........................27
5.4.3 DAQ Card Connections ...................................................................................... 28
5.5 Using Unused DAQ Card Resources..............................................................................28
6. Advanced Topics.................................................................................................... 29
6.1 Data Collection Rates......................................................................................................29
6.2 Detecting Failures (Diagnostics) ..................................................................................... 29
6.3 Scheduled Maintenance..................................................................................................29
6.4 A Word about Resolution ................................................................................................ 30
6.5 Environmental..................................................................................................................30
6.6 Accuracy Over Temperature ...........................................................................................30
7. Appendix A—Transducer Specifications.............................................................. 33
7.1 How to Select an F/T Transducer....................................................................................33
7.1.1 Calculate Expected Moment and Forces............................................................33
7.1.2 Identify transducer strength ................................................................................33
7.1.3 Verify resolution ..................................................................................................33
7.1.4 Inspect other transducer specifications ..............................................................33
7.2 Transducer and Calibration Specifications......................................................................35
7.2.1 Nano17................................................................................................................35
7.2.2 Nano25................................................................................................................36
7.2.3 Nano43................................................................................................................37
7.2.4 Mini40..................................................................................................................38
7.2.5 Mini45..................................................................................................................39
7.2.6 Gamma...............................................................................................................40
7.2.7 Delta....................................................................................................................41
7.2.8 Theta...................................................................................................................42
7.2.9 Omega160..........................................................................................................43
7.2.10 Omega190..........................................................................................................44
7.3 Compound Loading Ranges of F/T Sensors...................................................................45
7.3.1 Nano17 (US Calibration).....................................................................................46
7.3.2 Nano17 (SI Calibration).......................................................................................47
7.3.3 Nano25 (US Calibration).....................................................................................48
7.3.4 Nano25 (SI Calibration).......................................................................................49
7.3.5 Nano43 (US Calibration).....................................................................................50
7.3.6 Nano43 (SI Calibration).......................................................................................51
7.3.7 Mini40 (US Calibration).......................................................................................52
7.3.8 Mini40 (SI Calibration).........................................................................................53
7.3.9 Mini45 (US Calibration).......................................................................................54
7.3.10 Mini45 (SI Calibration)........................................................................................55

F/T DAQ Installation and Operation Manual
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ATI Industrial Automation, 1031 Goodworth Drive, Apex, NC 27539 USA [phone] www.ati-ia.com
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7.3.11 Gamma (US Calibration)....................................................................................56
7.3.12 Gamma (SI Calibration)......................................................................................57
7.3.13 Delta (US Calibration).........................................................................................58
7.3.14 Delta (SI Calibration)..........................................................................................59
7.3.15 Theta (US Calibration)........................................................................................60
7.3.16 Theta (SI Calibration) ......................................................................................... 61
7.3.17 Omega160 (US Calibration)...............................................................................62
7.3.18 Omega160 (SI Calibration).................................................................................63
7.3.19 Omega190 (US Calibration)...............................................................................64
7.3.20 Omega190 (SI Calibration).................................................................................65
8. Appendix B—Mechanical Layout .......................................................................... 67
8.1 Nano, Mini DAQ F/T System Connections...................................................................... 67
8.2 DAQ F/T System Connections for 9105-TIF Transducers.............................................. 68
8.3 DAQ IFPS Box................................................................................................................. 69
8.4 Nano17 Transducer.........................................................................................................70
8.5 Nano25 Transducer.........................................................................................................71
8.6 Nano43 Transducer.........................................................................................................72
8.7 Mini40 Transducer........................................................................................................... 73
8.8 Mini45 Transducer........................................................................................................... 74
8.9 DAQ Gamma Transducer with Mounting Adaptor Plate..................................................75
8.10 Gamma Mounting Adaptor ..............................................................................................76
8.11 DAQ Delta Transducer with Mounting Adaptor Plate......................................................77
8.12 Delta Mounting Adaptor...................................................................................................78
8.13 IP65 Rated DAQ Delta Transducer.................................................................................79
8.14 DAQ Theta Transducer with Mounting Adaptor Plate.....................................................80
8.15 Theta Mounting Adaptor..................................................................................................81
8.16 IP65 Rated DAQ Theta Transducer................................................................................82
8.17 DAQ Omega160 with Mounting Adaptor Plate................................................................83
8.18 IP65 Rated Mux Omega 160 Transducer........................................................................84
8.19 DAQ Omega190 Transducer w/Mounting Adaptor Plate ................................................85
8.20 IP65 Rated DAQ Omega 190 Transducer.......................................................................86
9. Terms and Conditions of Sale............................................................................... 87

F/T DAQ Installation and Operation Manual
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Glossary of Terms
Terms Conditions
Accuracy See Measurement Uncertainty.
ActiveX Component A reusable software component for the Windowsapplications.
Compound Loading Any load that is not purely in one axis.
DAQ Data AcQuisition device.
FS Full-Scale.
F/T Force and Torque.
Fxy The resultant force vector comprised of components Fx and Fy.
Hysteresis A source of measurement caused by the residual effects of previously applied
loads.
IFPS InterFace/Power Supply box.
LabVIEW A graphical programming environment created for data acquisition tasks by
National Instruments.
Maximum Single-Axis
Overload The largest amount of pure load (not compound loading) that the transducer can withstand without damage.
MAP Mounting Adaptor Plate. The MAP part of the transducer is attached to the fixed
surface or robot arm.
Measurement
Uncertainty The maximum expected error in measurements, as specified on the calibration certificate.
NI National Instruments Corporation, the owner of the “National Instruments” and
“LabVIEW” trademarks. (www.ni.com)
Overload The condition where more load is applied to the transducer than it can measure.
This will result in saturation.
PSMCIA A small computer card for use in most laptop computers.
Point of Origin The point on the transducer from which all forces and torques are measured.
PS Power Supply box.
Quantization The way the continuously variable transducer signal is converted into discreet
digital values. Usually used when describing the change from one digital value to
the next.
Resolution The smallest change in load that can be measured. This is usually much smaller
than accuracy.
Saturation The condition where the transducer or data acquisition hardware has a load or
signal outside of its sensing range.
Sensor System The entire assembly consisting of parts from transducer to data acquisition card.
TAP Tool Adaptor Plate. The TAP part of the transducer is attached to the load that
is to be measured.
Tool Transformation Mathematically changing the measurement coordinate system by translating the
origin and/or rotating the axes.
Transducer The component that converts the sensed load into electrical signals.
Txy The resultant torque vector comprised of components Tx and Ty.
Visual Basic A Microsoft programming environment for developing Windows-based
applications.

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1. Getting Started
1.1 Introduction
This section gives instructions for setting up the F/T system. Final installation is covered in
Section 2. After setting up the system, a test is performed to check for problems. It is possible
to start learning the commands described in Section 4 before starting the final installation.
1.2 Unpacking
 Check the shipping container and components for damage due to shipping. Any damage should be
reported to ATI Industrial Automation.
 Check the packing list for omissions.
 The following are standard components for an F/T system (If you will be using your own data
acquisition system, you may not receive all the items.):
- Transducer
- Transducer cable (for 9105-TIF transducers)
- Power Supply or Interface Power Supply Box
- Power Supply cable
- Data Acquisition Card and its CD – if ordered
- ATI software CD
- This manual.
 The following are optional components:
- Mounting ring-plug adaptor; replaces mounting adaptor on some models
- Tool ring-plug adaptor; replaces tool adaptor on some models.
CAUTION: The Force/Torque transducer, the calibration data loaded on the CD
and the IFPS box, if applicable, have been assigned matching serial numbers
when the system was calibrated. If these serial numbers assigned to your F/T
system do not match, the force / torque outputs will be incorrect. Please do not
mix system components from different systems.
!
CAUTION: The transducer, Power Supply box, Interface Power Supply box, and
DAQ card are susceptible to damage from electrostatic discharge whenever they
are not connected to a plugged-in computer. Do not touch the electronics or the
connector pins when handling the transducer.
Connector
On-Board
Electronics
Connector
On-Board
Electronics
!

F/T DAQ Installation and Operation Manual
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1.3 System Components Description
1.3.1 Transducer
The transducer is a compact, rugged, monolithic structure that converts force and torque into
analog strain gauge signals . The transducer is commonly used as a wrist sensor mounted
between a robot and a robot end-effector. Factory-installed overload pins give Delta and Theta
transducers extra protection from damage due to inadvertent overloads. Figure 1.1 shows the
transducer with a standard tool adaptor.
For further information not in this section see:
- Appendix A for specifications (i.e. resolution, weight).
- Appendix B for mechanical drawings.
- Section 2, Final Installation, for mounting and cable routing.
Figure 1.1—Transducer
Aside:
The transducer is designed to withstand extremely high overloading through its
use of strong materials and quality silicon strain gauges. Some models use a
hardened stainless steel with twice the strength of titanium for overload
protection while other transducers use mechanical overload pins to prevent
damage.
1.3.2 Transducer Cable
The high-flex life transducer cable is electrically shielded to protect transmission from the
transducer Power Supply or Interface Power Supply boxes, small transducers have the cable
integrally attached. Larger transducers have a separate cable [See Figure 1.2].
For further information not in this section see:
- Section 2, Final Installation, for cable routing.
Tool Adaptor Plate (TAP)
Transducer Connecto
r
Overload Pin (do not attach to)
(Delta & Theta only) Mounting Adaptor Plate
(MAP)

F/T DAQ Installation and Operation Manual
Document #9610-05-1017-06
ATI Industrial Automation, 1031 Goodworth Drive, Apex, NC 27539 USA [phone] www.ati-ia.com
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Figure 1.2a—Transducer Cable for 9105-TIF Transducers
Figure 1.2b—Integral Transducer Cable on Small Transducers
1.3.3 Power Supply and Interface/Power Supply Boxes
The Interface Power Supply box is typically used with the small Nano and Mini transducers. It
supplies power to the transducer and electronics as well as conditioning the transducer signals
to be used with a data acquisition system. The transducer’s 12-pin cable plugs into this box.
The Power Supply box is used with larger transducers that have on board interface electronics.
The 20-pin transducer cable plugs into this box.
1.3.4 Power Supply Cable
The robust power supply cable connects the Power Supply box or Interface Power Supply box
to the data acquisition system. This cable usually has a connector on the data acquisition end,
but is also available unterminated.
Figure 1.3—Power Supply Cable
1.3.5 Data Acquisition System
The data acquisition system converts the transducer signals from analog voltages into data
your computer can use. This data is not the final force and torque values. The data acquisition
system also supplies raw power to the transducer system.
1.3.6 F/T Software CD
The F/T software CD contains the software and calibration data that your computer uses to
convert the transducer readings into usable force and torque output. It also has Microsoft
Power Supply/Interface Power Supply
Connector
Data Acquisition System NI Connector
Transducer
IFPS Box End
Power Supply Box End (Male)
Transducer End (Female)
Holes

F/T DAQ Installation and Operation Manual
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Windowsdrivers, sample programs, C source code, and detailed help files. The most recent
release of the DAQ software can be found on the web at http://www.ati-
ia.com/download/software.htm.
1.3.7 Interface Plates
The larger transducers come with a standard mounting adaptor to mechanically attach the
transducer to your robot arm or apparatus that will be applying the force. The transducer also
has a standard tool adaptor with an ISO 9409-1interface for Gamma, Delta, and Theta models
for attaching your tool.
The mounting adaptor consists of:
- Mounting adaptor plate
- Mounting screws
For further information not in this section see:
- Section 2, Installation
- Appendix B, Mechanical Layout
1.4 Connecting the System Components
1.4.1 Connecting the Transducer Cable
Large DAQ F/T transducers connect to the system through a high-density 20-pin connector.
(see Figure 1.3). The Nano and Mini F/Ts have integral cables.
Connect the transducer cable connector to the transducer as follows:
- Lightly place the connector into port on the transducer. Do not push.
- Line up the groove on the connector to the key in the port by rotating the connector
while lightly forcing the connector into the port. When the groove lines up the connector
will go noticeably deeper into the port.
- Screw the connector shell into the transducer until it seats firmly.
Figure 1.4—Transducer Connector
Disconnect the transducer connector from the transducer port by unscrewing the connector
shell.
1.4.2 Installing the Data Acquisition Hardware
Install the data acquisition hardware and its accompanying software following the instructions
included with the hardware.
CAUTION:
Cables on the Nano and Mini transducers are permanently attached to the
transducer and can not be disconnected. Do not attempt to disassemble these
transducers as damage will occur.
!
Groove
1.5 in.
(38mm)
Turns to Mate
and Unmate

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1.4.3 Connecting to the Data Acquisition Hardware
If you are using a NI PCMCIA (a small PC card for laptop computers), you will need to attach
the short adaptor cable to the card. The other end of the adaptor cable connects to the F/T
Power Supply cable.
Connect the 26-pin D-subminiature connector side of the Power Supply cable to the Power
Supply or Interface Power Supply box. Tighten the jackscrews on the connector to insure a
good electrical connection.
Connect the 68-pin connector side of the Power Supply cable to the NI data acquisition
hardware. Tighten the jackscrews on the connector to insure a good electrical connection.
Please note that the PCMCIA adaptor does not use the jackscrews. In this case you must
insure the connectors do not get pulled apart.
Aside:
If you are not using a National Instruments E-Series DAQ board, you will have to
provide your own connector at that end of the cable.
1.4.4 Testing with the ATI DAQ Demo on a Windows

Computer
Install the F/T software by inserting the CD in your computer. The installation program should
start automatically. If it does not start automatically, you will need to run SETUP.EXE found
in the root directory of the CD. Follow the installation instructions given by the program.
View the README.TXT file found in the root directory of the CD.
Copy your transducer’s calibration file from the CD directory \Calibration to the program
directory ATI DAQ FT . The calibration file name is based on the transducers serial number
and is in the format of FTxxxx.CAL.
Run the demo program found in the Start Menu under Programs\ATI DAQ FT\ATI DAQ FT
Demo. In the program you must load the calibration data. Do this by clicking on the menu
File, then Open Calibration. Find the calibration data file you saved earlier and click the Open
button. At this point the program should be displaying two sets of bar graphs; one labeled
Force and the other labeled Torque.
Gently apply load to the transducer without over-ranging the transducer. You should see the
bar graphs respond.
Aside:
The ATI DAQ demo only works in conjunction with National Instruments DAQ
boards.

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ATI Industrial Automation, 1031 Goodworth Drive, Apex, NC 27539 USA [phone] www.ati-ia.com
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2. Installation
2.1 Introduction
This section will assist the user in mounting the transducer, tooling, and the transducer cable.
2.2 Routing the Transducer Cable
The transducer cable must be routed so that it is not stressed, pulled, kinked, cut, or
otherwise damaged throughout the full range of motion. See Section 1.4 for the transducer
cable interfacing. If the desired application results in the cable rubbing then use a plastic
spiral wrap for protection.
2.3 Mounting the Transducer
There are two different Methods, I and II, for mounting most F/T transducers. Mount the
transducer to a structure with sufficient mechanical strength. Not doing so can lead to sub-
optimum performance. The Nano, Mini and Omega transducers have mounting and tool
adaptors which cannot be removed, so only Method II can be used.
2.3.1 Transducer Mounting Method I:
Uses the standard mounting adaptor to attach the transducer. You must machine the bolt
pattern of your device (i.e. robot) into the mounting adaptor. You will not be able to use the
mounting adaptor alone if your device covers the mounting screws used to connect the
transducer. If this is the case, use Method II.
Use the mounting adaptor to attach the transducer as follows
- Ensure that you provide sufficient clearance between the mounted transducer and other
fixtures, and that total stack height is acceptable. Also ensure that after the mounting
adaptor is attached to the robot (or other device) you will have access to the mounting
screws for attaching the transducer.
CAUTION: When a cable is cycling below the minimum bending radius, the cable
may fail due to fatigue. A smaller radius may be used if it is not being cycled.
Minimum cycled
bending radius 60mm
(at room temperature)
Minimum cycled
bending radius 40mm
(at room temperature)
Minimum cycled
bending radius 60mm
(at room temperature)
Minimum cycled
bending radius 60mm
(at room temperature)
Minimum cycled
bending radius 40mm
(at room temperature)
The minimum cycled bending radius is different with significant temperature
changes, increasing with lower temperature and decreasing for higher
temperature.
!
CAUTION: Be careful not to crush the cable by over-tightening tie wraps or
walking on the cable, since this may damage the cable.
!

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- Machine the mounting adaptor plate for attaching to your robot (or other device).
Mounting adaptor plate dimensions are shown in Appendix B, Mechanical Layout [see
Figure 2.1]. All user-supplied screws must be flush with the inside of the mounting
adaptor to ensure proper clearance for the electronics inside the transducer.
- Attach the mounting adaptor to the robot (or other device). Attach the transducer to the
mounting adaptor with the screws and dowel pin provided. Thread locker is
recommended to prevent the screws from backing out due to vibration (e.g. Loctite
thread locker No. 222).
Figure 2.1—Attaching the transducer with the mounting adaptor plate
2.3.2 Transducer Mounting Method II:
Use your own interface plate to bolt directly to the transducer or (for the Nano, Mini or
Omega models) the mounting adaptor.
Use Appendix B, Mechanical Layout, for detailed mechanical drawings of the transducer and
all interface plates. Detailed descriptions of each method are shown on the next two pages.
Robot (or other device)
with threaded bolt circle
Mounting screws provided
Mounting adaptor plate
User-supplied flat head
screws
Transducer
Mounting side
Tool side
CAUTION: Do not attempt to drill, tap, machine, or otherwise modify the
transducer. This could damage the transducer and will void the warranty. Do not
attempt to remove any part of Nano, Mini, or Omega model transducers as
damage will occur.
!

F/T DAQ Installation and Operation Manual
Document #9610-05-1017-06
ATI Industrial Automation, 1031 Goodworth Drive, Apex, NC 27539 USA [phone] www.ati-ia.com
19
Aside:
Examine the cable routing (Section 2.2) before modifying the mounting adaptor
plates. The F/T system’s default point of origin is at the center of the mounting
adaptor surface. See Appendix B, Mechanical Layout, for drawings showing the
default point of origin.
2.4 Mounting Your Tool
The tool adaptor is factory installed and the bolt circle is shown in Appendix B, Mechanical
Layout. Most F/T tool adaptors follow the ISO 9409-1 mounting pattern. Machine your tool
interface plate to attach to this bolt circle.
CAUTION: Your tool may only touch the tool adaptor plate. If your tool touches
any other part of the transducer it will not properly sense loads.
!

F/T DAQ Installation and Operation Manual
Document #9610-05-1017-06
ATI Industrial Automation, 1031 Goodworth Drive, Apex, NC 27539 USA [phone] www.ati-ia.com
20
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