Horizontal type robot
Force sensor set
Allows copy and fitting work to be completed in the same way a person would while the force applied to the hand is monitored.
Enables necessary work such as fine force adjustments and force detection to be completed.
Specifications of Force sensor
Please refer to the "Catalogs" for a robot and the details of the robot arm options.
Force Sensor Set (FR series)
| Item | Unit | Specification Value | ||
|---|---|---|---|---|
| Force sensor set model | -- | 4F-FS002H-W200 | 4F-FS002H-W1000 | |
| Force sensor model | -- | 1F-FS001-W200 | 1F-FS001-W1000 | |
| Rated load | Fx, Fy, Fz | N | 200 | 1000 |
| Mx, My, Mz | Nm | 4 | 30 | |
| Minimum control force | Fx, Fy, Fz | N | 0.3 | |
| Mx, My, Mz | Nm | 0.03 | ||
| Consumption current | mA | 200 | ||
| Weight (sensor unit) | g | 360 | 580 | |
| External dimensions | mm | φ80 x 32.5 | φ90 x 40 | |
| Protective structure | - | IP30 | ||
Force Sense Interface Unit Specifications (FR series)
| Item | Unit | Specification Value | |
|---|---|---|---|
| Model | -- | 2F-DQ561 | |
| Interface | RS-422 | ch | 1 (For sensor connection) |
| SSCNET III/H | ch | 1 (For robot controller and additional axis ampconnection) |
|
| Power supply | Input voltage range | Vdc | 24±5% |
| Power consumption | W | 25 | |
| External dimensions | mm | 225(W)x111(D)x48(H) | |
| Weight | kg | Approx. 0.8 | |
| Construction | - | IP20 (Panel installation, opentype) |
|
Sensor attachment adapter for force sensor set 4F-FS002H-W1000
| Part Name | Model |
|---|---|
| Sensor attachment adapter (for RV-2/4/7FR) | 1F-FSFLGSET-01 |
| Sensor attachment adapter (for RV-13/20FR) | 1F-FSFLGSET-02 |
*4F-FS002H-W200 comes with a sensor mounting adapter (for RV-2/4/7FR)
System Configuration (FR series)
Product Configuration
| No | Name | Qty. |
|---|---|---|
| 1 | Force sensor | 1 |
| 2 | Force sensor interface unit | 1 |
| 3 | Sensor adapter(*1) | 1 |
| 4 | Adapter cable | 1 |
| 5 | 24V DC power supply | 1 |
| 6 | 24V DC power supply cable | 1m |
| 7 | Serial cable between the unit and sensor | 5m |
| 8 | SSCNETIII cable | 10m |
*1)The sensor attachment adapter is not supplied for 4F-FS002H-W1000. It needs to purchase the sensor attachment adaptor separately.
Select the Force Sensor (FR series)
Selection flow of force sensor is indicated on below.
Confirm the selection result here and the force sensor specification, and please decide about the force sensor you use.
Please refer to the "Catalogs" for a robot and the details of the robot arm options.
Force Sensor Set (F series)
| Item | Unit | Specification Value | ||
|---|---|---|---|---|
| Force sensor set model | -- | 4F-FS001-W200 | 4F-FS001-W1000 | |
| Force sensor model | -- | 1F-FS001-W200 | 1F-FS001-W1000 | |
| Rated load | Fx, Fy, Fz | N | 200 | 1000 |
| Mx, My, Mz | Nm | 4 | 30 | |
| Minimum control force | Fx, Fy, Fz | N | 0.3 | |
| Mx, My, Mz | Nm | 0.03 | ||
| Consumption current | mA | 200 | ||
| Weight (sensor unit) | g | 360 | 580 | |
| External dimensions | mm | φ80 x 32.5 | φ90 x 40 | |
| Protective structure | - | IP30 | ||
Force Sense Interface Unit Specifications
| Item | Unit | Specification Value | |
|---|---|---|---|
| Model | -- | 2F-TZ561 | |
| Interface | RS-422 | ch | 1 (For sensor connection) |
| SSCNET III | ch | 1 (For robot controller and additional axis ampconnection) |
|
| Power supply | Input voltage | Vdc | 24±5% |
| Power consumption | W | 25 | |
| External dimensions | mm | 225(W)x111(D)x48(H) | |
| Weight | kg | Approx. 0.8 | |
| Construction | - | IP20 (Panel installation, opentype) |
|
Sensor attachment adapter for force sensor set 4F-FS001-W1000
| Part Name | Model |
|---|---|
| Sensor attachment adapter (for RV-2/4/7F) | 1F-FSFLGSET-01 |
| Sensor attachment adapter (for RV-13/20F) | 1F-FSFLGSET-02 |
*4F-FS001-W200 comes with a sensor mounting adapter (for RV-2/4/7F)
System Configuration
Product Configuration
| No | Name | Qty. |
|---|---|---|
| 1 | Force sensor | 1 |
| 2 | Force sensor interface unit | 1 |
| 3 | Sensor adapter(*1) | 1 |
| 4 | Adapter cable | 1 |
| 5 | 24V DC power supply | 1 |
| 6 | 24V DC power supply cable | 1m |
| 7 | Serial cable between the unit and sensor | 5m |
| 8 | SSCNETIII cable | 10m |
*1)The sensor attachment adapter is not supplied for 4F-FS001-W1000. It needs to purchase the sensor attachment adaptor separately.
Select the Force Sensors (F series)
Selection flow of force sensor is indicated on below.
Confirm the selection result here and the force sensor specification, and please decide about the force sensor you use.