SlimLine 9173B User manual

Instruction
Manual
SlimLine
Force Sensor
Type 9173B to
9177B
9173B_002-286e-07.10

Instruction
Manual
SlimLine
Force Sensor
Type 9173B to
9177B
9173B_002-286e-07.10

Foreword
9173B_002-286e-07.10 Page 1
Foreword
This instruction manual describes the characteristics and
use of SlimLine sensors Types 9173B to 9177B.
Information in this document is subject to change without
notice. Kistler reserves the right to change or improve its
products and make changes in the content without obliga-
tion to notify any person or organization of such changes
or improvements.
©2010 Kistler Group. All rights reserved. Except as ex-
pressly provided herein, no part of this manual may be re-
produced for any purpose without the express prior written
consent of Kistler Group.

SlimLine Force Sensor, Type 9173B to 9177B
Page 2 9173B_002-286e-07.10
Content
1. Introduction ................................................................................................................................... 4
2. Important Notes............................................................................................................................. 5
2.1 For Your Safety .................................................................................................................... 5
2.2 Unpacking............................................................................................................................ 6
2.3 Notes on Handling the Sensor .............................................................................................. 6
2.4 Hints on the Use of this Instruction Manual ......................................................................... 6
3. General Description ....................................................................................................................... 7
3.1 Applications.......................................................................................................................... 8
3.2 Design and Principle of Operation........................................................................................ 9
4. Mounting, Installation and Commissioning................................................................................. 11
4.1 Important Notes.................................................................................................................11
4.2 Mounting Quartz Force Link .............................................................................................. 11
4.3 Adaptation Options............................................................................................................ 13
4.4 Basic Circuit and Cabling of Measuring Chain .................................................................... 14
4.4.1 Notes on Cabling of Measuring Chain................................................................... 14
4.4.2 Cable Routing ....................................................................................................... 16
5. Operation..................................................................................................................................... 17
5.1 Charge Amplifier Setup ...................................................................................................... 17
5.2 Polarity of Measurement Signal.......................................................................................... 17
5.3 Measurement Signal Resolution ......................................................................................... 17
5.4 Quasistatic Measurements ................................................................................................. 18
5.5 Effect of Temperature ........................................................................................................ 19
5.6 Tips for Good Measurement............................................................................................... 19
6. Calibration and Maintenance....................................................................................................... 20
6.1 In-Situ Calibration of Force Sensors.................................................................................... 20
6.1.1 Working Point Calibration by Peak Value Comparison .......................................... 20
6.1.1.1 Test System Requirements ..................................................................... 21
6.1.1.2 Reference Sensor Installation ................................................................. 21
6.1.1.3 Load Application .................................................................................... 22
6.1.1.4 Calibration Process Worksheet............................................................... 23
6.2 Kistler Calibration Service ................................................................................................... 26
6.3 Maintenance and Service ................................................................................................... 26
7. Troubleshooting........................................................................................................................... 27
7.1 Diagnosis and Rectification of Faults .................................................................................. 27
7.2 Repairing SlimLine Force Sensor ......................................................................................... 28
8. Technical Data ............................................................................................................................. 29
8.1 SLS Force Sensor Type 9173B to 9177B ............................................................................. 29
8.2 Optional Accessories .......................................................................................................... 30

Content
9173B_002-286e-07.10 Page 3
9. Annex ...........................................................................................................................................32
9.1 Glossary ..............................................................................................................................32
9.2 Measurement Uncertainty ..................................................................................................36
9.3 Linearity..............................................................................................................................37
9.4 Frequency Range ................................................................................................................39
9.5 Influence of Temperature....................................................................................................40
10. Index.............................................................................................................................................42
Total Pages 42

SlimLine Force Sensor, Type 9173B to 9177B
Page 4 9173B_002-286e-07.10
1. Introduction
Please take the time to thoroughly read this instruction
manual. It will help you with the installation, maintenance,
and use of this product.
To the extent permitted by law Kistler does not accept any
liability if this instruction manual is not followed or prod-
ucts other than those listed under Accessories are used.
Kistler offers a wide range of products for use in measuring
technology:
Piezoelectric sensors for measuring force, torque, strain,
pressure, acceleration, shock, vibration and acoustic-
emission
Strain gage sensor systems for measuring force and
moment
Piezoresistive pressure sensors and transmitters
Signal conditioners, indicators and calibrators
Electronic control and monitoring systems as well as
software for specific measurement applications
Data transmission modules (telemetry)
Kistler also develops and produces measuring solutions for
the engines, vehicles, manufacturing, plastics and biome-
chanics application sectors.
Our product and application brochures will provide you
with an overview of our product range. Detailed data
sheets are available for almost all products.
If you need additional help beyond what can be found ei-
ther on-line or in this manual, please contact Kistler's ex-
tensive support organization.

Important Notes
9173B_002-286e-07.10 Page 5
2. Important Notes
It is absolutely essential to follow the instructions below,
which are intended to ensure your safety when working
with the equipment and guarantee a long, trouble-free
service life.
2.1 For Your Safety
This SlimLine force link has been thoroughly tested and
has left the factory in a perfectly safe condition. In or-
der to maintain this condition and to ensure hazard-free
operation, the user must comply with the information
and warning notes contained in this instruction manual.
The force link must be installed, operated and main-
tained only by persons who are familiar with the instru-
ment and are adequately qualified for the work con-
cerned.
If it is accepted that safe operation is no longer possible,
the instrument must be switched off and secured to en-
sure it cannot be switched on again accidentally.
It must be assumed that safe operation is no longer
possible when the product
shows visible signs of damage,
is no longer operating,
has been in lengthy storage under unsuitable condi-
tions and
has been subjected to rough transport conditions.
Mount the SlimLine force link in position as described.
Details can be found in section 4.
Secure all parts mounted on the SlimLine force link ac-
cording to anticipated forces!

SlimLine Force Sensor, Type 9173B to 9177B
Page 6 9173B_002-286e-07.10
2.2 Unpacking
Check all packaging for transport damage. Report any such
damage to the transporters and to the authorized Kistler
distributor.
Please also check the included accessories (Section 8.2).
Please report any missing parts to the responsible Kistler
distributor.
2.3 Notes on Handling the Sensor
The force link must only be used under the specified
environmental and operating conditions.
With piezoelectric sensors, insulation resistance is of
crucial importance; it must be approx. 1014 (but not
less than 1013 ).
In order to preserve this value, all plug-and-socket con-
nections must be kept absolutely clean and dry. The in-
sulation resistance can be measured with the insulation
tester Type 5493.
Protect the sensor when it is not in use by storing it in
its original packaging.
Ensure the temperature of the SlimLine sensor remains
as constant as possible during long-term measurements.
2.4 Hints on the Use of this Instruction Manual
We recommend that you read through the entire manual
thoroughly. However, if you cannot spare the time and are
already familiar with Kistler SlimLine sensors, you may skip
to the sections with the information currently required.
We have tried to organize this manual clearly so that the
required information is easily accessible.
Keep this manual in a safe place where it is readily accessi-
ble at all times.
If you lose your manual please contact your Kistler distribu-
tor for prompt replacement.

General Description
9173B_002-286e-07.10 Page 7
3. General Description
SlimLine piezoelectric force sensors feature an extremely
compact design. The force to be measured is transferred to
the quartz sensor elements via the cover plate and base
plate of the tightly welded steel housing. The quartz ele-
ments produce an electric charge proportional to the me-
chanical load. A charge amplifier generates an electric volt-
age from this charge. These signals are displayed, recorded
or processed in the familiar way.
Thanks to the extremely high resolution of quartz it is pos-
sible to measure a change in force of the order of 1 N un-
der a preload of several tons.
The compact design and the relatively small dimensions al-
low flexible application and easy mounting.
Sensitivity (charge per unit force) is a constant of quartz as
a material. The associated threshold is virtually the same
for all SlimLine sensors of different sizes.
This has three unique advantages:
High level of overload protection, very small forces can
be measured with one sensor with a large measuring
range
High rigidity; a sensor with a larger measuring range
undergoes less deformation
Several sensors can be electrically connected in parallel
to a single charge amplifier. The output signal is then
the sum of all of acting forces
SlimLine quartz force links are supplied calibrated (in rela-
tion to the compression force range only). This ensures
they are easy to mount and immediately ready for meas-
urement.

SlimLine Force Sensor, Type 9173B to 9177B
Page 8 9173B_002-286e-07.10
3.1 Applications
The compact SLS quartz force link's high rigidity makes it
ideal for measuring rapidly changing tension and compres-
sion forces without significantly changing the elastic be-
havior of the object in which they are being recorded.
Quasistatic measurements (i.e. measurements with rela-
tively long time constants) are possible. Please see the sen-
sor data sheet for Types 9133B21 … 9137B21
(9130B_000-110) for specific information about the inte-
gral sensors.
Depending on the size of the force, quasistatic measure-
ment can be performed over several minutes or even hours
(the signal drift is only about ±50 mN/s). However, truly
static measurements over any length of time are not possi-
ble.
On the other hand, after a pause of any length a sensor
under continuous static load (for example, mounted in a
threaded connection) can be reconnected to a charge am-
plifier and the changes in load then measured accurately.
Measurements of dynamic forces (AC mode) are also pos-
sible over any length of time. Kistler SlimLine sensors have
a virtually unlimited life and are not subject to sensitivity
drift caused by aging.
The most important typical applications are:
Measurement of forces in robotic systems
Monitoring on presses and automatic punching, coining
and welding machines
Clamping processes, for example a force link combined
with a hydraulic cylinder
Joining processes such as insertion, press fitting of com-
ponents, etc.

General Description
9173B_002-286e-07.10 Page 9
3.2 Design and Principle of Operation
The SlimLine quartz force link consists of a SlimLine sensor
mounted under preload between a preloading bolt and a
nut.
This preload is required for measuring tensile forces.
Fig. 1: Design of Sensor
The SlimLine sensor is mounted with insulation to largely
avoid ground loop problems.
The force link is rust-resistant and the tightly welded con-
struction and integral cable of the sensor provide it with
splashproof protection.
1 SlimLine sensor with
integral sensor
2Cable outlet
3Nut
4Ground insulation
5Mounting thread
6Preloading bolt

SlimLine Force Sensor, Type 9173B to 9177B
Page 10 9173B_002-286e-07.10
A SlimLine sensor consists of two crystal ring washers, an
electrode and a housing with connector.
The force to be measured must be evenly distributed over
the ring surface. The mechanical compressive stress results
in an electric charge being generated in the quartz crystal.
This charge is proportional to the applied force and does
not depend on the dimensions of the quartz washers (lon-
gitudinal piezoelectric effect).
Fig. 2: Schematic section through a SlimLine sensor
Q = Quartz washers
E = Electrode
G = Housing
K = Connector
F = Force acting on force sensor
The generated charge is conducted from the electrode and
supplied to the plug connection. The polarity is chosen so
that a compression force generates a negative charge,
which is then converted into a positive voltage in the char-
ge amplifier. The housing serves as ground connection.
Unloading of the sensor produces a positive charge if the
negative charge generated beforehand by the load is reset
to zero by the charge amplifier being reset.
Connecting several SlimLine sensors in parallel adds the
charges of the individual force sensors and the charge am-
plifier measures the total force.

Mounting, Installation and Commissioning
9173B_002-286e-07.10 Page 11
4. Mounting, Installation and Commissioning
4.1 Important Notes
SlimLine force sensor Types 9173B to 9177B are precision
instrument whose inherent accuracy can only be exploited
and maintained if it is handled with care.
Do not drop the force link or subject it to severe
blows! The maximum shock force involved could
exceed its measuring range and cause permanent
damage.
Do not hammer components into position, as the
blows could also lead to damage!
The following sections contain instructions for mounting
the force link and setting up the measuring chain.
4.2 Mounting Quartz Force Link
Please observe the following instructions to ensure correct
mounting of the SlimLine force link:
The force link may only be installed by persons familiar
with the equipment and suitably qualified for this work.
Before mounting the force link, please check that bear-
ing surfaces are flat. They must be perfectly machined,
with a roughness of Ra ≤ 6,3 microns / ≤ N9. Clean
these surfaces thoroughly before mounting the link.
Uneven contact surfaces cause eccentric force applica-
tion. With high forces this could lead to overloading of
the link.
Always leave the plastic protective cap screwed on dur-
ing mounting. Extreme care must be exercised in very
dirty environments. Dirt on the cable side of the con-
nector can cause substantial measuring errors (particu-
larly drift).

SlimLine Force Sensor, Type 9173B to 9177B
Page 12 9173B_002-286e-07.10
Fig. 3: Mounting Force Links
The force link is secured in place with special parts with
matching female threads or a screw. When tightening a
screw connection ensure that the wrench used to
steady the force link is always positioned on the flats
near the end at which it is being secured. If the force
link is kept inadvertently on the opposite side (see
Fig. 3) there is a risk that the preload is removed! The
link would then have to be preloaded again and recali-
brated.
S = tolerance between link and end of the thread of the
part used to secure it or the latter's screw. Ensure when
mounting that a minimum distance S of approximately.
0,5 mm or half a turn of the thread always remains as
tolerance.
The connector end of the SlimLine cable (force link and
cable) must be cleaned with Kistler cleaning spray Type
1003.
Route the connecting cable so it cannot be pulled out
or severed during any work carried out.
wrong
righ
t
Fig. 4: Mounting force link

Mounting, Installation and Commissioning
9173B_002-286e-07.10 Page 13
4.3 Adaptation Options
Application examples
Measurement of forces in robotic systems
Monitoring on presses and automatic punching, coining
and welding machines
Clamping processes, for example a force link combined
with a hydraulic cylinder
Joining processes such as, insertion, press fitting of
components, etc.
Mounting arrangements
Fig. 5: Mounting the SLS force links in extremely
shallow force plates or dynamometers
Fig. 6: Measuring tensile and compression forces,
in applications such as combinations with
hydraulic cylinders

SlimLine Force Sensor, Type 9173B to 9177B
Page 14 9173B_002-286e-07.10
4.4 Basic Circuit and Cabling of Measuring Chain
When the applied compression force changes the quartz force
link yields an electric charge. The charge amplifier converts
the charge signal into a proportional output voltage that can
be detected and recorded with an electronic evaluation sys-
tem.
4.4.1 Notes on Cabling of Measuring Chain
Piezoelectric sensors may only be connected to or discon-
nected from a charge amplifier with the latter in the <Re-
set> mode. When in the <Operate> or <Measure> modes
the input stage of the charge amplifier can be destroyed by
voltage peaks!
Only high-insulation, low-capacitance coaxial cables
that only generate a very small amount of triboelectric-
ity when moved may be used as connecting cable for
piezoelectric sensors. We exclusively recommend the
connecting cables listed on data sheet 1631C_000-346.
Before connection we recommend cleaning both connec-
tors of the connecting cable with the cleaning spray Type
1003 from Kistler or with white spirit. The connector is
sealed against the force link sensor with an O-ring. In the
case of some cables this ring is enclosed separately and has
to be inserted into the connector before connection. The
bearing surfaces for the O-ring must be clean.
To prevent the connector contacts getting dirty, do not
remove the protective caps of the connections until just
before connecting the cable.
Route the connecting cable so that when work is being
carried out it is free to move as necessary, but cannot
be pulled out or severed.
The vibration of the connecting cable can generate
electric charge and superimpose noise on the charge
signal (triboelectric effect).
Several sensors can be connected in parallel to add the
charge and the measurands. Only one charge amplifier
is needed.
Conventional cables can be used to connect displays or
evaluation units to the charge amplifier.

Mounting, Installation and Commissioning
9173B_002-286e-07.10 Page 15
The following figure shows the items required for connect-
ing the quartz force link to a charge amplifier (such as the
Type 5015A).
Measuring chain for calibration purposes, consisting of
SlimLine force link, force distributing cap and flange,
cable and ICAM charge amplifier Type 5073A…
Fig. 7: Measuring chain for force calibration
Measuring chain for monitoring press force, consisting of:
SlimLine force link, cable, displacement sensor and
CoMo View®in desktop case
Fig. 8: Force-displacement measurement with process monitoring
Force signals from several SlimLine force links can be added to-
gether in terms of charge to form a sum signal. This is achieved
by routing the end of the cable with the BNC pos. connector
from each sensor to coupling Type 1743. The Type 1743 can
be plugged into the BNC neg. connection of the ControlMoni-
tor either directly or via an extension cable.
Cable e.
g
. T
yp
e 1631C2
Dis
p
lacement senso
r
Type 2101A3
Cable Ty
p
e 1631C...
SlimLine force senso
r
Type 9173B ... 9177B
maXYmo BL
Type 5867A…
Fz
Ty
p
e
9173B to 9177B
Fz

SlimLine Force Sensor, Type 9173B to 9177B
Page 16 9173B_002-286e-07.10
4.4.2 Cable Routing
Caution!
Do not allow any grease to get onto the surfaces of the
sensor. The head bearing surface and thread of the
preloading bolt must be greased before the bolt is
screwed in.
The sensor cable must be secured and provided with strain
relief so it cannot kink or twist. The bending radius must
not be lower than 3 mm.
The cable connection can be secured with devices such as
pins, which also serve to position the sensor.
Fig. 9: Cable Routing

Operation
9173B_002-286e-07.10 Page 17
5. Operation
5.1 Charge Amplifier Setup
In combination with the SlimLine quartz force links Types
9173B… to 9177B… we recommend using a charge ampli-
fier with adjustable sensitivity (such as Type 5073A... or a
ControlMonitor, for example Type 5863A...). Please see the
corresponding instruction manual for detailed setup infor-
mation.
Sensitivity
Set the sensitivity (pC/N) as specified on the calibration
certificate of the force link. It is shown directly in N.
Measuring range
Set the required measuring range (N). Depending on the
particular amplifier the output voltage range (± V FSO) and
the scaling of the output voltage (N/V) can also be set.
5.2 Polarity of Measurement Signal
Compression forces generate a negative charge signal on
the sensor and a positive display value or positive voltage
at the analog output of the charge amplifier.
5.3 Measurement Signal Resolution
The resolution is the smallest possible change in the meas-
urand measurable with the system. It is determined by the
signal-to-noise ratio at the signal output of the charge am-
plifier. For industrial charge amplifiers the resolution at
maximum gain is typically
Together with the sensitivity of the SlimLine force link (for
example, Type 9173B: –3,5 pC/N), this gives the following
resolution:
pC0,1

mN
pC/N3,5–
pC0,1 86,2 

SlimLine Force Sensor, Type 9173B to 9177B
Page 18 9173B_002-286e-07.10
5.4 Quasistatic Measurements
Purely static measurements over any length of time are not
possible with the piezoelectric measurement principle. As
the charge amplifier is not an ideal component, the charge
stored on the range capacitor is not retained indefinitely.
Leakage currents product a drift of the order of ±0,05
pC/s. During measurement the zero of the output signal
shifts in the positive or negative direction as a function of
time. With the sensor under no-load or constant load con-
ditions, this can be measured with the charge amplifier in
the <Operate> or <Measure> mode.
Pronounced drift allows the conclusion that the insulation
resistance of the measuring chain is insufficient. It is there-
fore important to keep cables and connectors clean and
dry.
The period of time over which so-called "quasistatic"
measurements can be performed is determined by the re-
quired accuracy . With the value of the sensitivity of the
sensor (for example, SlimLine quartz force link Type 9173B:
–3,5 pC/N), the drift can be estimated in mechanical units:
For the example of a SlimLine quartz force link Type 9173B
and a ControlMonitor Type 5863A1, the following me-
chanical drift results:
Sensitivity –3,5 pC/N
Drift ±0,1 pC/s
mN/s1
pC/N3,5–
pC/s0,05 43, 
mN/s86,2
pC/N3,5–
pC/s,10  