Novanta ATI Axia130 User manual

Engineered Products for Robotic Productivity
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
Force/Torque (F/T) Manual
Introduction
This manual provides an overview of the general safety, features, installation, operation, preventative maintenance, and
troubleshooting procedures of an F/T sensor system. For a comprehensive glossary of terms, refer to the following web
page: https://www.ati-ia.com/library/Glossary_of_Robotic_Terminology.aspx. Components of the F/T sensor system are
covered in the following modular manual sections:
A. Introduction
General information to contact an ATI representative, general safety guidelines, and terms and conditions of sale.
The ATI manual part number for this modular manual section is: 9620-05-A-Introduction.
B. Sensor
The sensor mechanical body that converts a detected loads into electrical signals. Sensors are available in several
different payload and communication interface versions. This manual provides an overview, installation, operation,
maintenance, and specications applicable to a sensor model, regardless of the communication interface version.
The ATI manual part number for this modular manual section is: 9620-05-B-XX (XX signies the
sensor model name).
C. Communication Interface Version
The software standard that the customer device uses to apply features to the sensor and for the sensor to report data,
for example: EtherCAT, Ethernet, and RS422. This manual provides information on electrical and software features
of a specic communication interface version and applicable cables.
The ATI manual part number for this modular manual section is: 9620-05-C-XX (XX signies the communication
interface version).
D. Custom Application
Additional information needed for the sensor system to work within a custom application.
The ATI manual part number for this modular manual section is: 9620-05-D-XX (XX signies the
custom application).

Manual, F/T Sensor, Introduction
Document #9620-05-A-Introduction-01
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
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A. Introduction
Please contact ATI Industrial Automation with any questions concerning a particular model.
WARNING: Only use ATI products for applications approved by the manufacturer. Using ATI
products in applications other than what was intended by the manufacturer could result in
damage to equipment and injury to personnel.
CAUTION: This manual describes the function, application, and safety considerations of this
product. This manual must be read and understood before any attempt is made to install or
operate the product, otherwise damage to the product or unsafe conditions may occur.
Information contained in this document is the property of ATI Industrial Automation, Inc. (ATI) and shall not be
reproduced in whole or in part without prior written approval of ATI. The information herein is subject to change
without notice. This manual is periodically revised to reect and incorporate changes made to the product.
The information contained herein is condential and reserved exclusively for the customers and authorized agents
of ATI Industrial Automation and may not be divulged to any third party without prior written consent from ATI.
No warranty including implied warranties is made with regard to accuracy of this document or tness of this device
for a particular application. ATI Industrial Automation shall not be liable for any errors contained in this document
or for any incidental or consequential damages caused thereby. ATI Industrial Automation also reserves the right to
make changes to this manual at any time without prior notice.
ATI assumes no responsibility for any errors or omissions in this document.
Copyright (2021) by ATI Industrial Automation. All rights reserved.
Note:
Please read the manual before calling customer service, and have the following
information available:
1. Serial number, for example: FT01234
2. Model, for example: Axia130-M125
3. Calibration, for example: SI-800-50 or SI-2000-125
4. Accurate and complete description of the question or concern
5. Computer and software information, for example: operating system, PC type, drivers, and
application software
Be near the F/T system when calling (if possible).
Please contact an ATI representative for assistance, if needed:
Sale, Service and Information about ATI products:
ATI Industrial Automation
1031 Goodworth Drive
Apex, NC 27539 USA
www.ati-ia.com
Tel: [phone]
Fax: [phone]
Application Engineering
Tel: [phone], Extension 511
Fax: [phone]
E-mail: [email protected]

Manual. F/T Sensor, Introduction
Document #9620-05-A-Introduction-01
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
A-3
1. Safety
The safety section describes general safety guidelines to be followed with this product, explanations of the
notications found in this manual, and safety precautions that apply to the product. Product specic notications
are imbedded within the sections of this manual (where they apply).
1.1 Explanation of Notications
These notications are used in all of ATI manuals and are not specic to this product. The user should heed
all notications from the robot manufacturer and/or the manufacturers of other components used in the
installation.
DANGER: Notication of information or instructions that if not followed will result in
death or serious injury. The notication provides information about the nature of the
hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.
WARNING: Notication of information or instructions that if not followed could result
in death or serious injury. The notication provides information about the nature of the
hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.
CAUTION: Notication of information or instructions that if not followed could result
in moderate injury or will cause damage to equipment. The notication provides
information about the nature of the hazardous situation, the consequences of not
avoiding the hazard, and the method for avoiding the situation.
NOTICE: Notication of specic information or instructions about maintaining, operating,
installing, or setting up the product that if not followed could result in damage to equipment. The
notication can emphasize, but is not limited to: specic grease types, best operating practices,
and maintenance tips.
1.2 General Safety Guidelines
The customer should verify that the sensor selected is rated for maximum loads and torques expected during
operation. Because static forces are less than the dynamic forces from the acceleration or declaration of the
robot, be aware of the dynamic loads caused by the robot.

Manual, F/T Sensor, Introduction
Document #9620-05-A-Introduction-01
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 • Tel: [phone] • Fax: [phone] • www.ati-ia.com
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2. Terms and Conditions of Sale
The following Terms and Conditions are a supplement to and include a portion ofATI’s Standard Terms and
Conditions, which are on le at ATI and available upon request.
ATI warrants to Purchaser that robotic Tool Changer products purchased hereunder will be free from defects
in material and workmanship under normal use for a period of three (3) years from the date of shipment. The
warranty period for repairs made under a Return Merchandise Authorization (RMA) shall be for the duration
of the original warranty, or ninety (90) days from the date of repaired product shipment, whichever is longer.
ATI will have no liability under this warranty unless: (a) ATI is given written notice of the claimed defect and a
description thereof within thirty (30) days after Purchaser discovers the defect and in any event not later than the
last day of the warranty period; and (b) the defective item is received by ATI not later ten (10) days after the last
day of the warranty period. ATI’s entire liability and Purchaser’s sole remedy under this warranty is limited to
repair or replacement, at ATI’s election, of the defective part or item or, at ATI’s election, refund of the price paid
for the item. The foregoing warranty does not apply to any defect or failure resulting from improper installation,
operation, maintenance or repair by anyone other than ATI.
ATI will in no event be liable for incidental, consequential or special damages of any kind, even if ATI has been
advised of the possibility of such damages. ATI’s aggregate liability will in no event exceed the amount paid by
Purchaser for the item which is the subject of claim or dispute. ATI will have no liability of any kind for failure of
any equipment or other items not supplied by ATI.
No action against ATI, regardless of form, arising out of or in any way connected with products or services supplied
hereunder may be brought more than one (1) year after the cause of action accrued.
No representation or agreement varying or extending the warranty and limitation of remedy provisions contained
herein is authorized by ATI, and may not be relied upon as having been authorized by ATI, unless in writing and
signed by an executive ofcer of ATI.
Unless otherwise agreed in writing by ATI, all designs, drawings, data, inventions, software and other technology
made or developed by ATI in the course of providing products and services hereunder, and all rights therein under
any patent, copyright or other law protecting intellectual property, shall be and remain ATI’s property. The sale of
products or services hereunder does not convey any express or implied license under any patent, copyright or other
intellectual property right owned or controlled by ATI, whether relating to the products sold or any other matter
except for the license expressly granted below.
In the course of supplying products and services hereunder, ATI may provide or disclose to Purchaser condential
and proprietary information of ATI relating to the design, operation or other aspects of ATI’s products. As between
ATI and Purchaser, ownership of such information, including without limitation any computer software provided
to Purchaser by ATI, shall remain in ATI and such information is licensed to Purchaser only for Purchaser’s use in
operating the products supplied by ATI hereunder in Purchaser’s internal business operations.
Without ATI’s prior written permission, Purchaser will not use such information for any other purpose or provide or
otherwise make such information available to any third party. Purchaser agrees to take all reasonable precautions to
prevent any unauthorized use or disclosure of such information.
Purchaser will not be liable hereunder with respect to disclosure or use of information which: (a) is in the public
domain when received from ATI; (b) is thereafter published or otherwise enters the public domain through no fault
of Purchaser; (c) is in Purchaser’s possession prior to receipt from ATI; (d) is lawfully obtained by Purchaser from a
third party entitled to disclose it; or (f) is required to be disclosed by judicial order or other governmental authority,
provided that, with respect to such required disclosures, Purchaser gives ATI prior notice thereof and uses all legally
available means to maintain the condentiality of such information.

Engineered Products for Robotic Productivity
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
Axia130 F/T Sensor Manual
Document #: 9620-05-B-Axia130

Manual, F/T Sensor, Axia130
Document #9620-05-B-Axia130-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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Foreword
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 of ATI Industrial Automation, Inc. This manual is
periodically revised to reect and incorporate changes made to the Force/Torque (F/T) system.
ATI Industrial Automation, Inc. assumes no responsibility for any errors or omissions in this document.
Copyright © (2021) by ATI Industrial Automation, Inc., Apex, North Carolina USA. All Rights Reserved.
Published in the USA.
ATI F/T Sensing Systems are considered components/ semi-nished goods intended for use in larger system/
device/ nished good.
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 an 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.
Note:
Please read the manual before calling customer service, and have the following
information available:
1. Serial number, for example: FT01234
2. Model, for example: Axia130-M125
3. Calibration, for example: SI-800-50 or SI-2000-125
4. Accurate and complete description of the question or concern
5. Computer and software information, for example: operating system, PC type, drivers, and
application software
Be near the F/T system when calling (if possible).
Please contact an ATI representative for assistance, if needed:
Sale, Service and Information about ATI products:
ATI Industrial Automation
1031 Goodworth Drive
Apex, NC 27539 USA
www.ati-ia.com
Tel: [phone]
Fax: [phone]
Application Engineering
Tel: [phone], Extension 511
Fax: [phone]
E-mail: [email protected]

Manual, F/T Sensor, Axia130
Document #9620-05-B-Axia130-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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Table of Contents
Glossary........................................................................................................................................B-4
1. Safety......................................................................................................................................B-6
1.1 ExplanationofNotications..................................................................................................... B-6
1.2 General Safety Guidelines........................................................................................................ B-6
1.3 Safety Precautions.................................................................................................................... B-7
2. Product Overview..................................................................................................................B-8
2.1 GrooveIdenticationforAxia130Models............................................................................... B-9
3. Installation ...........................................................................................................................B-10
3.1 Interface Plates........................................................................................................................ B-10
3.1.1 ATI Interface Plate Kits..................................................................................................B-12
3.2 Routing the Cable.................................................................................................................... B-13
3.3 Cable Kits................................................................................................................................. B-15
3.3.1 Adjust the Connector Block Orientation ........................................................................B-16
3.4 Install the Sensor .................................................................................................................... B-17
3.5 Remove the Sensor................................................................................................................. B-19
3.6 Accuracy Check Procedure.................................................................................................... B-20
3.7 Detecting Sensitivity Changes............................................................................................... B-21
4. Operation .............................................................................................................................B-22
4.1 Sensor Environment............................................................................................................... B-22
4.2 Tool Transformation................................................................................................................ B-23
4.2.1 Avoid Overloading the Sensor During Tool Transformation...........................................B-25
5. Maintenance.........................................................................................................................B-25
5.1 Periodic Inspection................................................................................................................. B-25
5.2 Periodic Calibrating ................................................................................................................ B-25
6. Troubleshooting ..................................................................................................................B-26
6.1 Basic Guidance for Troubleshooting .................................................................................... B-27
7. Specications ......................................................................................................................B-30
7.1 Storage and Operating Conditions........................................................................................ B-30
7.2 ElectricalSpecications ......................................................................................................... B-30
7.3 Calibration Ranges.................................................................................................................. B-30
7.4 Default Peak Values ................................................................................................................ B-31
8. Terms and Conditions of Sale............................................................................................B-32

Manual, F/T Sensor, Axia130
Document #9620-05-B-Axia130-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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Glossary
Term Denition
Bias
Bias may also be referred to as “zero out” or “tare” the sensor. Biasing
is useful for eliminating the effects of gravity (tool weight) or other acting
forces, as well as the effects of drift. When the bias function is used, the
software collects data for the forces and torques that are currently acting
on the sensor and use these readings as a reference for future readings.
Future readings will have this reference subtracted from them before they
are transmitted.
Calibration
Denes a specic measurement or sensing range for a given sensor.
Calibration is also the process of measuring a transducer’s raw response
to loads and creating data used in converting the response to forces and
torques.
Complex Loading Any load that is not purely in one axis.
Communication Interface
Versions
The software standard that the customer device uses to apply features
to the sensor and for the sensor to report data, for example: EtherCAT,
RS422, and Ethernet.
Coordinate Frame See Point of Origin.
Data Rate How fast data can be output over a network.
Force A force is a push or pull action on an object caused by an interaction with
another object. Force = mass X acceleration
FS Full-Scale, refers to the limits of a given calibration or sensing range.
F/T Force/Torque.
Fxy The resultant force vector comprised of components Fxand Fy.
Hysteresis A source of measurement error caused by the residual effects of previously
applied loads.
Interface Plate
A separate plate that attaches the sensor to another surface. Interface
plates are often used if the bolt pattern on the sensor doesn’t match the bolt
pattern on the robot arm or customer tooling. The interface plate has two
bolt patterns, one on either side of the plate. One side is for the sensor. The
other side is for the robot arm or customer tooling.
IP67 Ingress protection rating “67” designates protection against dust and
submersion under 1 m of fresh water.
Master Device A customer supplied device such as a personal computer, robot, or programmable logic controller (PLC) that is compatible a specic
communication interface.
Measurement Uncertainty
Commonly referred to as “accuracy”, “measurement uncertainty” is the
worst-case error between the measured value and the true load. The
measurement uncertainty is specied as a percentage of the full-scale
measurement range for a given sensor model and calibration size.
This value takes into account multiple sources of error. The sensor’s
calibration certicate lists the measurement uncertainty percentage. For
more information, refer to Section 2.2: Measurement Uncertainty in the
Frequently Asked Questions (FAQ) document located at: https://www.ati-ia.
com/library/documents/FT_FAQ.pdf.
Mechanical Coupling When an external object such as customer tooling or utilities contacts a
sensor’s surface between the sensor’s mounting side and tool side.
Mounting Interface Plate An interface plate that attaches the sensor to a xed surface like a robot
arm.

Manual, F/T Sensor, Axia130
Document #9620-05-B-Axia130-02
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Term Denition
N/A Not Applicable
Overload The condition where more load is applied to the transducer than it can
measure. This will result in saturation.
P/N Part Number
Point of Origin The point on the sensor from which all forces and torques are measured.
Power Cycle When a user removes and then restores power to a device.
Resolution The smallest change in load that can be measured. Resolution is usually
much smaller than accuracy.
Sample Rate How fast the ADCs are sampling inside the unit.
Saturation The condition where the transducer or data acquisition hardware has a load
or signal outside of its sensing range.
Sensor The component that converts a detected load into electrical signals.
Sensor System (or
conguration)
The entire assembly consisting of a sensor body and a system interface to
translate force and torque signals into a specic communication
interface/protocol.
Tool Interface Plate An interface plate that attaches the customer’s tooling to the tooling side
(sensing side) of the sensor.
Torque The application of a force through a lever or moment arm that causes something to want to turn. For example, a user applies torque to a screw to
make it turn. Torque = force x moment arm length
Txy The resultant torque vector comprised of components Txand Ty.

Manual, F/T Sensor, Axia130
Document #9620-05-B-Axia130-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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1. Safety
The safety section describes general safety guidelines to be followed with this product, explanations of the
notications found in this manual, and safety precautions that apply to the product. Product specic notications
are imbedded within the sections of this manual (where they apply).
1.1 ExplanationofNotications
These notications are used in all of ATI manuals and are not specic to this product. The user should heed
all notications from the robot manufacturer and/or the manufacturers of other components
used in the installation.
DANGER: Notication of information or instructions that if not followed will result in
death or serious injury. The notication provides information about the nature of the
hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.
WARNING: Notication of information or instructions that if not followed could result
in death or serious injury. The notication provides information about the nature of the
hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.
CAUTION: Notication of information or instructions that if not followed could result
in moderate injury or will cause damage to equipment. The notication provides
information about the nature of the hazardous situation, the consequences of not
avoiding the hazard, and the method for avoiding the situation.
NOTICE: Notication of specic information or instructions about maintaining, operating,
installing, or setting up the product that if not followed could result in damage to equipment. The
notication can emphasize, but is not limited to: specic grease types, best operating practices,
and maintenance tips.
1.2 General Safety Guidelines
The customer should verify that the sensor selected is rated for maximum loads and torques expected during
operation. Because static forces are less than the dynamic forces from the acceleration or declaration of the
robot, be aware of the dynamic loads caused by the robot.

Manual, F/T Sensor, Axia130
Document #9620-05-B-Axia130-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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1.3 Safety Precautions
CAUTION: Modifying or disassembly of the sensor could cause damage and
void the warranty.
CAUTION: Probing openings in the sensor causes damage to the instrumentation.
Avoid prying into openings of the sensor.
CAUTION: Do not overload the sensor. Exceeding the single-axis overload values of
the sensor causes irreparable damage.
CAUTION: The sensor should be protected from impact and shock loads that exceed
rated ranges during transport as the impacts can damage the sensor’s performance.
Refer to Section7—Specications for more information about rated ranges.

Manual, F/T Sensor, Axia130
Document #9620-05-B-Axia130-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
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2. Product Overview
The Axia130 Force/Torque (F/T) sensor measures six components of force and torque (Fx \ Fy \ Fz\ Tx\ Ty\ Tz)
that are applied to the tool side of the sensor. The sensor communicates this data to a device such as a personal
computer, robot, or PLC). The ATI Axia-series product line differs from the other ATI F/T sensor models. Thus,
the Axia sensors have different options and available features. The Axia-series force/torque sensors are available in
several different payload and communication interface versions. For more information about the communication
interface, refer to the applicable ATI Axia F/T sensor manual (Table 2.1).
The Axia130 sensor is available in different model types (Axia130-MXXX) that are identiable by the grooves
on the outer housing; refer to Section2.1—GrooveIdenticationforAxia130Models. The MXXX sufx signies
the full-scale torque measurement range. For the calibration ranges of each model type, refer to Section7.3—
Calibration Ranges.
The sensor’s mounting side attaches to a rigid xture or robot. The tool side attaches to the customer tooling. Users
may need interface plates to install the sensor; refer to Section3.1—InterfacePlates. The robot mounting side of
the sensor has a 112 mm diameter bolt circle (BC) with (6) M8 counterbored holes and (2) slip t dowel holes. The
tooling side of the sensor has a 64 mm diameter BC with (12) M6 tapped holes and (2) slip t dowel holes (refer to
the ATIAxiasensorcustomerdrawing). The sensor is IP67 rated.
An M12 8-pin male connector is for power and communication. On the side of the sensor, LEDs indicate the
sensor’s operation state. For the connector pin assignments on the sensor and cables, sensor cable part numbers, and
more information about the LEDs, refer to the applicable ATI communication interface manual in Table 2.1.
The ATI Axia130 sensor customer drawing is available here: http://www.ati-ia.com/app_content/
Documents/9630-05-0006.auto.pdf.
The Axia130 sensor has the following additional features:
• 50 mm diameter through hole.
• Electrical connector with adjustable orientation (refer to Section3.3.1—AdjusttheConnector
Block Orientation).
Figure 2.1—Axia130 F/T Sensor
Mounting side
to robot or fixture
Communication and Status LEDs
Tool side
(for customer tooling)
Identifying groove(s)
M12, 8-pin, male connector
for power and communication
Connector block
with adjustable orientation 50 mm diameter through hole

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Document #9620-05-B-Axia130-02
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For more information on the electrical and software features of a specic communication interface version and the
applicable cable, refer to the ATI manual in the following table:
Table 2.1—Communication/Software ATI Manual Reference
Sensor Model
ATI P/N Communication Type ATI Cable P/N Refer to the ATI Manual
9105-NET-
Axia130-M125 Ethernet 9105-C-ZC28-ZC28-X1-Z22
9105-C-ZC28-U-RJ45S-X1
ATI F/T Ethernet Axia manual
(ATI p/n 9620-05-C-Ethernet Axia)
9105-NET-
Axia130-M300
9105-ECAT-
Axia130-M125 EtherCAT 9105-C-ZC28-ZC28-X1-Z22
9105-C-ZC28-U-RJ45S-X1
ATI F/T EtherCAT Axia manual
(ATI p/n 9620-05-C-EtherCAT Axia)
9105-ECAT-
Axia130-M300
9105-RS422-
Axia130-M125 RS422 9105-C-ZC28-ZC28-X1-Z22,3 ATI F/T RS422 Axia manual
(ATI p/n 9620-05-C-RS422 Axia)
9105-RS422-
Axia130-M300
Note:
1. The X in the part number signies the cable length. For more information, contact ATI.
2. Included in 9105-CKIT-ZC28-ZC28-5; refer to Table 3.3.
3. Customers must use their own RS422 serial cable with a DB9 or USB connector to the ATI sensor cable.
2.1 GrooveIdenticationforAxia130Models
The Axia130 sensor is available in different model types (Axia130-MXXX) that are identiable by the
number of grooves on the outer housing. The MXXX sufx signies the full-scale torque measurement
range. For the calibration ranges of each model type, refer to Section7.3—Calibration Ranges.
Table 2.2—Axia Models
Model Part Number Number of Identifying
Grooves1Material
Axia130-M125 9105-X2-Axia130-M125 1 Aluminum
Axia130-M300 9105-X2-Axia130-M300 2 Stainless Steel
Notes:
1. Identifying grooves are physical indentations in the sensor body (refer to Figure 2.1). These grooves
provide users a quick visual method to differentiate the sensor models.
2. X signies the communication interface version option.

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3. Installation
WARNING: Performing maintenance or repair on the sensor when circuits (e.g. power,
water, and air) are energized could result in death or serious injury. Discharge and
verify all energized circuits are de-energized in accordance with the customer’s safety
practices and policies.
CAUTION: Modication or disassembly of the sensor could cause damage and void the
warranty. Use the supplied mounting bolt pattern and the provided tool side mounting bolt
pattern to mount the sensor to the robot and customer tooling to the sensor (refer to the
customer drawing).
CAUTION: Thread locker applied to fasteners must not be used more than once. Fasteners
may become loose and cause equipment damage. Always apply new thread locker when
reusing fasteners.
CAUTION: Avoid damage to the sensor from Electro-Static Discharge. Ensure proper
grounding procedures are followed when handling the sensor or cables connected to the
sensor. Failure to follow proper grounding procedures could damage the sensor.
CAUTION: Do not apply excessive force to the sensor and cable connector during
installation, or damage will occur to the connectors. Align the keyway on the sensor and cable
connector during installation to avoid applying excessive force to the connectors.
Keyway on the
sensor connector
Keyway on the
cable connector
NOTICE: Depending on the maintenance or repair being performed, utilities to the sensor may not
need to be disconnected.
3.1 Interface Plates
The sensor’s mounting side attaches to a surface like the robot arm, and the sensor’s tool side attaches to the
customer tooling. ATI can supply mounting kits that include a mounting interface plate and fasteners; for
more information, contact ATI (refer to page B-2). If the customer chooses to supply their own interface
plates, refer to the following design guidelines and the ATIAxiasensorcustomer drawing.
CAUTION: Incorrect installation of robot mounting and tool interface plates will result in
the failure of the F/T sensor to function properly.
CAUTION: The customer tool should only touch the tool side of the sensor or a tool
interface plate. If the customer tool touches any other part of the sensor, the sensor will
not properly detect loads.

Manual, F/T Sensor, Axia130
Document #9620-05-B-Axia130-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
B-11
If the customer chooses to design and build an interface plate, consider the following points:
• The interface plate should include bolt holes for mounting fasteners as well as dowel pin and a boss for
accurate positioning to the robot or customer’s device.
• The thickness of the interface plate must provide sufcient thread engagement for the
mounting fasteners.
• The mounting fasteners should not interfere with the internal electronics of the sensor. For thread
depth, mounting patterns, and other details refer to the ATIsensor drawing.
• Do not use dowel pins that exceed length requirements and prevent the interface plate from mating
ush with the robot and customer tooling. Fasteners that exceed length requirements create a gap
between the interfacing surfaces and cause damage.
• The interface plate must be as strong or stronger than the sensor so that maximum force and torque
values applied to the sensor do not distort the interface plate. For these force and torque values, refer to
Section 7—Specications.
• The interface plate must provide a at and parallel mounting surface for the sensor.
Figure 3.1—Interface Plate(s)
robot arm
(2) 5 mm locating dowel pin
(12) M6 mounting fasteners
locating dowel*
mounting fasteners*
interface plate* for robot
locating boss
locating dowel pin*
mounting fasteners*
(2) 4 mm locating dowel pin
(6) M8 mounting fasteners
Axia130 sensor
interface plate* for tool
.002 in (.05 mm)
.002 in (.05 mm)
A
.002 in (.05 mm)
.002 in (.05 mm)
B
A
B
*customer supplied or supplied in an ATI kit
(optional: the customer
tool may also mount directly
to the tool side of the sensor)

Manual, F/T Sensor, Axia130
Document #9620-05-B-Axia130-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
B-12
3.1.1 ATI Interface Plate Kits
ATI offers the following ISO 9409-1 compliant interface plate kit options. These options are for
mounting the sensor to common robot ange bolt patterns and replicating those common patterns
on the sensor’s tool side. For assistance selecting an interface plate or for more information, contact
an ATI representative.
Table 3.1—ATI ISO 9409-1 Interface Plate Kits
ISO Standard
Robot Flange
Pattern
Bolt
Circle
Diameter
Interface
Plate ATI P/N Side of Sensor: Mounting or Tool Description
ISO 9409-1-
100-6-M8 100 mm
9105-IP-2274 Mounting
Through holes for (6) M8 socket head
cap screws,
63 mm diameter boss,
(1) 8 mm dowel pin
9105-IP-2273 Tool
Tapped holes for (6) M8 socket head
cap screws,
63 mm diameter recess,
(1) 8 mm dowel pin
ISO 9409-1-
125-6-M10 125 mm
9105-IP-2281 Mounting
Through holes for (6) M10 socket head
cap screws,
80 mm diameter boss,
(1) 10 mm dowel pin
9105-IP-2280 Tool
Tapped holes for (6) M10 socket head
cap screws,
80 mm diameter recess,
(1) 10 mm dowel pin
ISO 9409-1-
160-6-M10 160 mm
9105-IP-2283 Mounting
Through holes for (6) M10 socket head
cap screws,
100 mm diameter boss,
(1) 10 mm dowel pin
9105-IP-2282 Tool
Tapped holes for (6) M10 socket head
cap screws,
100 mm diameter recess,
(1) 10 mm dowel pin

Manual, F/T Sensor, Axia130
Document #9620-05-B-Axia130-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
B-13
3.2 Routing the Cable
The routing and bending radius of the cable depends upon the customer application. Unlike motionless
applications, where the cable is in a static condition, dynamic applications subject the cable to a repetitive
motion. For dynamic applications, restrain the cable at a distance that does not expose and damage the
sensor’s cable connection from the robot’s repetitive motion.
Figure 3.2—Routing of the Sensor Cable
Restrain cable to keep repetitive motion
from affecting the cable connection.
(ATI cable kit p/n 9105-CKIT-ZC28-ZC28-5 shown)
interface plate
sensor cable
connector block
(orientation can be
changed if needed)
robot arm
for cable bend radius
specifications, refer to:
F/T sensor
CAUTION: Subjecting the connector to the repetitive motion will cause damage to the
connector. Restrain the cable close to the connector so that the repetitive motion of the
robot does not interfere with the cable connector.
CAUTION: Improper cable routing may cause injury to personnel, poor functionality
of critical electrical lines, or damage to the equipment. The electrical line, especially
where attached to the sensor’s connector, must be routed to avoid stress failure, sharp
bends, or a disconnection from the equipment. Damage to the sensor or cable from
improper routing will void the warranty.
Table 3.2

Manual, F/T Sensor, Axia130
Document #9620-05-B-Axia130-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
B-14
Route the sensor cable so that it is not stressed, pulled, kinked, cut, or otherwise damaged throughout the
full range of motion. Use a robot dresspack solution, if possible. An example of how to route the cable, if
a dresspack is not available, are shown in the following gures and descriptions. Afx the cable by using
hook and loop straps or Velcro®straps; do not use cable ties or zip ties.
Figure 3.3—Example of Cable Routing Without a Dresspack Solution
(sensor shown for reference only)
Allow enough slack in
the cable to allow full range
of motion for the robot arm.
Use hook and loop or Velcro®straps to restrain
the cable around the robot arm.
CAUTION: Do not use cable ties or zip ties to bundle cables or restrain the cable
to the robot arm. Directly afxing cable ties or zip ties to the cable jacket will
damage the cable. Use hook and loop or Velcro straps on the cable jacket surfaces.
Examples of the incorrect and correct methods to restrain or bundle cables are in the
following pictures:
USE Velcro
®
straps to restrain
the cable around the robot arm.
DO NOT USE zip ties to restrain
the cable around the robot arm.
INCORRECT CORRECT
USE Velcro
®
straps
to bundle cables.
DO NOT USE zip ties
to bundle cables.

Manual, F/T Sensor, Axia130
Document #9620-05-B-Axia130-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
B-15
CAUTION: Do not damage or crush the cable by over tightening the
straps on the cable.
CAUTION: When routing cables do not bend less than the minimum bending radius
specied in Table 3.2. A bend radius too small causes the cable to fail from fatigue of
the robot’s repetitive motion.
Table 3.2—Sensor Cable Bending Radius and Dynamic Twist Angle
Cable Part Number Cable Diameter
mm (in)
Static
Bending
Radius
(at room
temperature)
Dynamic
Bending
Radius
(at room
temperature)
Dynamic Cable
Twist Angle per
Unit Length
mm in mm in
9105-C-ZC28-ZC28-X2-Z237.65 (0.30) 31 1.2 80 3.15 180°/m or 55°/ft
9105-C-ZC28-U-RJ45S-X26 (0.24) 25 1 50 2
Notes:
1. Temperature affects cable exibility. ATI recommends increasing the minimum dynamic bending radius for
lower temperatures.
2. The X in the part number represents the cable length. For more information, contact ATI.
3. Available in anATI kit; refer to Table 3.3.
4. For information specic to the cable part number, refer to the appropriate manual in Table 2.1.
3.3 Cable Kits
Table 3.3—Cable Kit 9105-CKIT-ZC28-ZC28-5
Part Number Description Quantity
9105-C-ZC28-ZC28-5 8-pin M12 connector to 8-pin M12 connector, with a 5 m cable 1
9005-05-1083 (1) P-clamp and (1) M5 x 8 socket head cap screw 1

Manual, F/T Sensor, Axia130
Document #9620-05-B-Axia130-02
Pinnacle Park • 1031 Goodworth Drive •Apex, NC 27539 USA• Tel: [phone] • Fax: [phone] • www.ati-ia.com
B-16
3.3.1 Adjust the Connector Block Orientation
WARNING: Do not adjust the connector block orientation if the sensor is not
completely dry or is powered on.
NOTICE: Position 1 is the default orientation of the connector block. When ATI ships
Axia130 sensors to the customer, the connector block is in the default position.
Tools required: 2.5mmhexkey
Supplies required: Loctite®222
1. Use a 2.5 mm hex key to remove the M3 socket head cap screw.
2. Rotate the connector block to one of the 90° increments shown in the following gure.
3. Apply Loctite 222 to the threads of the M3 socket head cap screw.
4. Use a 2.5 mm hex key to install the screw. Tighten to 8 in-lbs (0.9 Nm).
Figure 3.4—Adjust the Connector Block Orientation
1
2
3
M3 Socket Head Cap Screw Rotate the block at 90° increments
until the screw aligns to one
of these three locations.
1
3
2