SCHUNK FT User instructions

Translation of Original Operating Manual
Assembly and Operating Manual
FT
Force-torque-sensor

Imprint
2 03.00 | FT | Assembly and Operating Manual | en | 389582
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights
reserved.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 389582
Version: 03.00|18/05/2021|en
Dear Customer,
thank you for trusting our products and our family-owned company, the leading
technology supplier of robots and production machines.
Our team is always available to answer any questions on this product and other solutions.
Ask us questions and challenge us. We will find a solution!
Best regards,
Your SCHUNK team
Customer Management
Tel. [phone]
Fax [phone]
[email protected]
Please read the operating manual in full and keep it close to the product.

Table of Contents
Table of Contents
1 General.................................................................................................................... 4
1.1 About this manual ................................................................................................ 4
1.1.1 Presentation of Warning Labels ...............................................................4
1.1.2 Applicable documents ..............................................................................5
1.1.3 Variants.....................................................................................................5
1.1.4 Sizes ..........................................................................................................5
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery .................................................................................................. 6
1.4 Accessories ........................................................................................................... 6
2 Basic safety notes ................................................................................................... 7
2.1 Intended use......................................................................................................... 7
2.2 Not intended use.................................................................................................. 7
2.3 Constructional changes ........................................................................................ 7
2.4 Spare parts ........................................................................................................... 7
2.5 Ambient conditions and operating conditions .....................................................7
2.6 Personnel qualification......................................................................................... 8
2.7 Personal protective equipment............................................................................ 8
2.8 Notes on safe operation ....................................................................................... 9
2.9 Malfunctions......................................................................................................... 9
2.10 Disposal ................................................................................................................ 9
2.11 Fundamental dangers......................................................................................... 10
2.11.1 Protection during handling and assembly ..............................................10
2.11.2 Protection during commissioning and operation ...................................10
3 Technical data.........................................................................................................11
3.1 Basic data ........................................................................................................... 11
3.2 Ambient conditions and operating conditions ...................................................23
3.3 Measurement error............................................................................................ 23
3.4 Maximum permissible load ................................................................................ 24
4 Design and description............................................................................................44
4.1 Design ................................................................................................................. 44
4.2 Description ......................................................................................................... 44
5 Assembly ................................................................................................................45
5.1 Assembly and connection................................................................................... 45
5.2 Connections........................................................................................................ 45
5.2.1 Mechanical connection...........................................................................45
5.2.2 Electrical connection ..............................................................................52
6 Maintenance ..........................................................................................................54
6.1 Maintenance intervals........................................................................................ 54
6.2 Checking the measured data.............................................................................. 54
7 EU Declaration of Conformity .................................................................................55
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General
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1 General
1.1 About this manual
This manual contains important information for a safe and
appropriate use of the product.
This manual is an integral part of the product and must be kept
accessible for the personnel at all times.
Before starting work, the personnel must have read and
understood this operating manual. Prerequisite for safe working is
the observance of all safety instructions in this manual.
Illustrations in this manual are provided for basic understanding
and may differ from the actual product design.
In addition to these instructions, the documents listed under
Applicable documents [}5] are applicable.
1.1.1 Presentation of Warning Labels
To make risks clear, the following signal words and symbols are
used for safety notes.
DANGER
Danger for persons!
Non-observance will inevitably cause irreversible injury or death.
WARNING
Dangers for persons!
Non-observance can lead to irreversible injury and even death.
CAUTION
Dangers for persons!
Non-observance can cause minor injuries.
CAUTION
Material damage!
Information about avoiding material damage.

General
1.1.2 Applicable documents
• General terms of business *
• Catalog data sheet of the purchased product *
• Commissioning instructions for the force-torque-sensor system
The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
1.1.3 Variants
This operating manual applies to the following variations:
• Force-torque-sensorFT
• Force-torque-sensorFT with FTN-interface
• Force-torque-sensorFT with FTW-interface
• Force-torque-sensorFT with FTD-interface
• Force-torque-sensorFT with FTE-interface
NOTE
For information on the Force-torque-sensorFT with an FTS-
interface, contact SCHUNK.
1.1.4 Sizes
This operating manual applies to the following sizes:
• FT Nano
• FT Mini
• FT Gamma
• FT Delta
• FT Theta
• FT Omega
NOTE
For the sake of clarity, the sizes of the force-torque sensors have
been combined into two size groups in some places in this
manual:
• FT Nano and FT Mini
• FT Gamma, FT Delta, FT Theta and FT Omega
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General
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1.2 Warranty
If the product is used as intended, the warranty is valid for 12
months from the ex-works delivery date under the following
conditions:
• Observe the ambient conditions and operating conditions,
Ambient conditions and operating conditions [}7]
• Observe the specified maintenance intervals,
Maintenance [}54]
Parts touching the workpiece and wear parts are not included in
the warranty.
1.3 Scope of delivery
The scope of delivery includes
• Force-torque-sensor FT in the version ordered
• Assembly and Operating Manual
• Accessory pack
1.4 Accessories
A wide range of accessories are available for this product
For information regarding which accessory articles can be used
with the corresponding product variants, see catalog data sheet.

Basic safety notes
2 Basic safety notes
2.1 Intended use
The product is a machine component designed for measuring
forces and torques (FT) in six directions. The product converts the
mechanically acting forces into electrical measured values and can
transmit these to a PC via various interfaces.
• The product may only be used within the scope of its technical
data, Technical data [}11].
• When implementing and operating components in safety-
related parts of the control systems, the basic safety principles
in accordance with DIN EN ISO 13849-2 apply. The proven safety
principles in accordance with DIN EN ISO 13849-2 also apply to
categories 1, 2, 3 and 4.
• The product is intended for installation in a machine/system.
The applicable guidelines must be observed and complied with.
• The product is intended for industrial and industry-oriented use.
• Appropriate use of the product includes compliance with all
instructions in this manual.
2.2 Not intended use
• Any utilization that exceeds or differs from the appropriate use
is regarded as misuse.
2.3 Constructional changes
Implementation of structural changes
By conversions, changes, and reworking, e.g. additional threads,
holes, or safety devices can impair the functioning or safety of the
product or damage it.
• Structural changes should only be made with the written
approval of SCHUNK.
2.4 Spare parts
Use of unauthorized spare parts
Using unauthorized spare parts can endanger personnel and
damage the product or cause it to malfunction.
• Use only original spare parts or spares authorized by SCHUNK.
2.5 Ambient conditions and operating conditions
Required ambient conditions and operating conditions
Incorrect ambient and operating conditions can make the product
unsafe, leading to the risk of serious injuries, considerable material
damage and/or a significant reduction to the product's life span.
• Make sure that the product is used only in the context of its
defined application parameters, Technical data [}11].
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Basic safety notes
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2.6 Personnel qualification
Inadequate qualifications of the personnel
If the personnel working with the product is not sufficiently
qualified, the result may be serious injuries and significant
property damage.
• All work may only be performed by qualified personnel.
• Before working with the product, the personnel must have read
and understood the complete assembly and operating manual.
• Observe the national safety regulations and rules and general
safety instructions.
The following personal qualifications are necessary for the various
activities related to the product:
Trained electrician Due to their technical training, knowledge and experience, trained
electricians are able to work on electrical systems, recognize and
avoid possible dangers and know the relevant standards and
regulations.
Qualified personnel Due to its technical training, knowledge and experience, qualified
personnel is able to perform the delegated tasks, recognize and
avoid possible dangers and knows the relevant standards and
regulations.
Instructed person Instructed persons were instructed by the operator about the
delegated tasks and possible dangers due to improper behaviour.
Service personnel of
the manufacturer
Due to its technical training, knowledge and experience, service
personnel of the manufacturer is able to perform the delegated
tasks and to recognize and avoid possible dangers.
2.7 Personal protective equipment
Use of personal protective equipment
Personal protective equipment serves to protect staff against
danger which may interfere with their health or safety at work.
• When working on and with the product, observe the
occupational health and safety regulations and wear the
required personal protective equipment.
• Observe the valid safety and accident prevention regulations.
• Wear protective gloves to guard against sharp edges and
corners or rough surfaces.
• Wear heat-resistant protective gloves when handling hot
surfaces.
• Wear protective gloves and safety goggles when handling
hazardous substances.
• Wear close-fitting protective clothing and also wear long hair in
a hairnet when dealing with moving components.

Basic safety notes
2.8 Notes on safe operation
Incorrect handling of the personnel
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
• Avoid any manner of working that may interfere with the
function and operational safety of the product.
• Use the product as intended.
• Observe the safety notes and assembly instructions.
• Do not expose the product to any corrosive media. This does
not apply to products that are designed for special
environments.
• Eliminate any malfunction immediately.
• Observe the care and maintenance instructions.
• Observe the current safety, accident prevention and
environmental protection regulations regarding the product's
application field.
2.9 Malfunctions
Behavior in case of malfunctions
• Immediately remove the product from operation and report the
malfunction to the responsible departments/persons.
• Order appropriately trained personnel to rectify the
malfunction.
• Do not recommission the product until the malfunction has
been rectified.
• Test the product after a malfunction to establish whether it still
functions properly and no increased risks have arisen.
2.10 Disposal
Handling of disposal
The incorrect handling of disposal may impair the product's safety
and cause serious injuries as well as considerable material and
environmental harm.
• Follow local regulations on dispatching product components for
recycling or proper disposal.
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Basic safety notes
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2.11 Fundamental dangers
General
• Observe safety distances.
• Never deactivate safety devices.
• Before commissioning the product, take appropriate protective
measures to secure the danger zone.
• Disconnect power sources before installation, modification,
maintenance, or calibration. Ensure that no residual energy
remains in the system.
• If the energy supply is connected, do not move any parts by
hand.
• Do not reach into the open mechanism or movement area of
the product during operation.
2.11.1 Protection during handling and assembly
Incorrect handling and assembly
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
• Have all work carried out by appropriately qualified personnel.
• For all work, secure the product against accidental operation.
• Observe the relevant accident prevention rules.
• Use suitable assembly and transport equipment and take
precautions to prevent jamming and crushing.
Incorrect lifting of loads
Falling loads may cause serious injuries and even death.
• Stand clear of suspended loads and do not step into their
swiveling range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.
2.11.2 Protection during commissioning and operation
Falling or violently ejected components
Falling and violently ejected components can cause serious injuries
and even death.
• Take appropriate protective measures to secure the danger
zone.
• Never step into the danger zone during operation.

Technical data
3 Technical data
3.1 Basic data
Designation FT
Nano17-
Titan
Nano17 Nano17
(IP65/68)
Weight [kg] 0.01 0.01 0.04
Height [mm] 14.5 14.5 22.2
Diameter [mm] 17 17 20.1
Stiffness
X-axis & Y-axis forces
(Kx, Ky) [N/m]
4.8x1068.2x106
Z-axis forces (Kz) [N/m] 6.6x1061.1x107
X-axis & Y-axis torques
(Ktx, Kty) [Nm/rad]
1.4x1022.4x102
Z-axis torques (Ktz)
[Nm/rad]
2.2x1023.8x102
Single axis overload
Fxy [N] 160 250
Fz [N] 310 480
Mxy [Nm] 1 1.6
Mz [Nm] 1.2 1.8
Resonant frequency
Fx, Fy, Fz [Hz] 3000 7200 2200
Mx, My, Mz [Hz] 3000 7200 2200
Decrease in Fz due to increasing immersion depth with IP68
protection class
Decrease in Fz [N/m] - - -2.23
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Technical data
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Designation FT
Nano25 Nano25
(IP65/68)
Nano43
Weight [kg] 0.063 0.136 0.039
Height [mm] 21.6 27.5 11.5
Diameter [mm] 25 28 43
Stiffness
X-axis & Y-axis forces
(Kx, Ky) [N/m]
5.3x1075.2x106
Z-axis forces (Kz) [N/m] 1.1x1085.2x106
X-axis & Y-axis torques
(Ktx, Kty) [Nm/rad]
6.5x1037.7x102
Z-axis torques (Ktz)
[Nm/rad]
9.2x1031.1x103
Single axis overload
Fxy [N] 2300 300
Fz [N] 7300 280
Mxy [Nm] 43 3.2
Mz [Nm] 63 4.6
Resonant frequency
Fx, Fy, Fz [Hz] 3600 3400 2800
Mx, My, Mz [Hz] 3800 3500 2300
Decrease in Fz due to increasing immersion depth with IP68
protection class
Decrease in Fz [N/m] - -4.81 -

Technical data
Designation FT
Mini27-
Titan
Mini40 Mini40
(IP65/68)
Mini43LP
Weight [kg] 0.033 0.05 0.272 0.05
Height [mm] 18.2 12.2 21.1 7.99
Diameter [mm] 27 40 53.3 43
Stiffness
X-axis & Y-axis forces
(Kx, Ky) [N/m]
3.1x1071.1x1073.3x107
Z-axis forces (Kz) [N/m] 6.4x1072.0x1072.1x107
X-axis & Y-axis torques
(Ktx, Kty) [Nm/rad]
4.5x1032.8x1033.4x103
Z-axis torques (Ktz)
[Nm/rad]
6.5x1034.0x1031.1x104
Single axis overload
Fxy [N] 1500 810 1200
Fz [N] 4600 2400 1200
Mxy [Nm] 30 19 15
Mz [Nm] 40 20 25
Resonant frequency
Fx, Fy, Fz [Hz] N/A 3200 1400 5200
Mx, My, Mz [Hz] N/A 4900 1300 7300
Decrease in Fz due to increasing immersion depth with IP68
protection class
Decrease in Fz [N/m] - - -18.9 -
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Technical data
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Designation FT
Mini45-
Titan
Mini45 Mini45
(IP65/68)
Weight [kg] 0.1 0.092 0.391
Height [mm] 17.5 15.7 25.1
Diameter [mm] 45 45 57.9
Stiffness
X-axis & Y-axis forces
(Kx, Ky) [N/m]
4.3x1077.4x107
Z-axis forces (Kz) [N/m] 5.7x1079.8x107
X-axis & Y-axis torques
(Ktx, Kty) [Nm/rad]
9.7x1031.7x104
Z-axis torques (Ktz)
[Nm/rad]
2.0x1043.5x104
Single axis overload
Fxy [N] 3000 5100
Fz [N] 6400 10000
Mxy [Nm] 67 110
Mz [Nm] 81 140
Resonant frequency
Fx, Fy, Fz [Hz] 5800 5600 5200
Mx, My, Mz [Hz] 4600 5400 4200
Decrease in Fz due to increasing immersion depth with IP68
protection class
Decrease in Fz [N/m] - - -18.9

Technical data
Designation FT
Mini58 Mini58
(IP60)
Mini58
(IP65/68)
Mini85
Weight [kg] 0.345 0.522 0.804 0.635
Height [mm] 30 36.2 37.6 29.8
Diameter [mm] 58 82 65.4 85.1
Stiffness
X-axis & Y-axis forces
(Kx, Ky) [N/m]
2.5x1087.7x107
Z-axis forces (Kz) [N/m] 3.7x1081.2x108
X-axis & Y-axis torques
(Ktx, Kty) [Nm/rad]
1.1x1058.1x104
Z-axis torques (Ktz)
[Nm/rad]
2.0x1051.3x105
Single axis overload
Fxy [N] 21000 13000
Fz [N] 48000 27000
Mxy [Nm] 590 500
Mz [Nm] 800 610
Resonant frequency
Fx, Fy, Fz [Hz] 3000 N/A 2400
Mx, My, Mz [Hz] 5700 N/A 3100
Decrease in Fz due to increasing immersion depth with IP68
protection class
Decrease in Fz [N/m] - - -27.1 -
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Technical data
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Designation FT
Gamma Gamma
(IP60)
Gamma
(IP65)
Gamma
(IP68)
Weight [kg] 0.255 0.467 1.09 1.98
Height [mm] 33.3 39.6 52.3 52.3
Diameter [mm] 75.4 99.1 111 111
Stiffness
X-axis & Y-axis forces
(Kx, Ky) [N/m]
9.1x106
Z-axis forces (Kz) [N/m] 1.8x107
X-axis & Y-axis torques
(Ktx, Kty) [Nm/rad]
1.1x104
Z-axis torques (Ktz)
[Nm/rad]
1.6x104
Single axis overload
Fxy [N] 1200
Fz [N] 4100
Mxy [Nm] 79
Mz [Nm] 82
Resonant frequency
Fx, Fy, Fz [Hz] 1400 1200 1000 1250
Mx, My, Mz [Hz] 2000 1200 970 940
Decrease in Fz due to increasing immersion depth with IP68
protection class
Decrease in Fz [N/m] - - - -47.4

Technical data
Designation FT
Delta Delta
(IP60)
Delta
(IP65)
Delta
(IP68)
Weight [kg] 0.913 1.81 1.77 2.63
Height [mm] 33.3 47.1 52.2 52.2
Diameter [mm] 94.5 117 126 102
Stiffness
X-axis & Y-axis forces
(Kx, Ky) [N/m]
3.6x107
Z-axis forces (Kz) [N/m] 5.9x107
X-axis & Y-axis torques
(Ktx, Kty) [Nm/rad]
5.2x104
Z-axis torques (Ktz)
[Nm/rad]
9.1x104
Single axis overload
Fxy [N] 3700
Fz [N] 10000
Mxy [Nm] 280
Mz [Nm] 400
Resonant frequency
Fx, Fy, Fz [Hz] 1500 1100 880 950
Mx, My, Mz [Hz] 1700 1100 920 960
Decrease in Fz due to increasing immersion depth with IP68
protection class
Decrease in Fz [N/m] - - - -72
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Technical data
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Designation FT
Theta Theta
(IP60)
Theta
(IP65/68)
Weight [kg] 4.99 8.62 9
Height [mm] 61.1 74 74.8
Diameter [mm] 155 194 163
Stiffness
X-axis & Y-axis forces
(Kx, Ky) [N/m]
7.1x107
Z-axis forces (Kz) [N/m] 1.2x108
X-axis & Y-axis torques
(Ktx, Kty) [Nm/rad]
3.4x105
Z-axis torques (Ktz)
[Nm/rad]
5.3x105
Single axis overload
Fxy [N] 20000
Fz [N] 51000
Mxy [Nm] 2000
Mz [Nm] 2000
Resonant frequency
Fx, Fy, Fz [Hz] 680 N/A
Mx, My, Mz [Hz] 820 N/A
Decrease in Fz due to increasing immersion depth with IP68
protection class
Decrease in Fz [N/m] - - -191

Technical data
Designation FT
Omega85 Omega85
(IP65/68)
Weight [kg] 0.658 1.91
Height [mm] 33.4 38.7
Diameter [mm] 85.1 92.7
Stiffness
X-axis & Y-axis forces
(Kx, Ky) [N/m]
7.7x107
Z-axis forces (Kz) [N/m] 1.2x108
X-axis & Y-axis torques
(Ktx, Kty) [Nm/rad]
8.1x104
Z-axis torques (Ktz)
[Nm/rad]
1.3x105
Single axis overload
Fxy [N] 13000
Fz [N] 27000
Mxy [Nm] 500
Mz [Nm] 610
Resonant frequency
Fx, Fy, Fz [Hz] 2100 N/A
Mx, My, Mz [Hz] 3000 N/A
Decrease in Fz due to increasing immersion depth with IP68
protection class
Decrease in Fz [N/m] - -57
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Technical data
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Designation FT
Omega160 Omega160
(IP60)
Omega160
(IP65/68)
Weight [kg] 2.72 7.67 7.26
Height [mm] 55.9 57.7 65.9
Diameter [mm] 157 194 165
Stiffness
X-axis & Y-axis forces
(Kx, Ky) [N/m]
7.0x107
Z-axis forces (Kz) [N/m] 1.2x108
X-axis & Y-axis torques
(Ktx, Kty) [Nm/rad]
3.3x105
Z-axis torques (Ktz)
[Nm/rad]
5.2x105
Single axis overload
Fxy [N] 18000
Fz [N] 48000
Mxy [Nm] 1700
Mz [Nm] 1900
Resonant frequency
Fx, Fy, Fz [Hz] 1300 1100 1200
Mx, My, Mz [Hz] 1000 1000 900
Decrease in Fz due to increasing immersion depth with IP68
protection class
Decrease in Fz [N/m] - - -191