F/T DAQ Installation and Operation Manual
Document #9610-05-1017-06
ATI Industrial Automation, 1031 Goodworth Drive, Apex, NC 27539 USA +1-919-772-0115 www.ati-ia.com
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7. Appendix A—Transducer Specifications
7.1 How to Select an F/T Transducer
7.1.1 Calculate Expected Moment and Forces
Moment capacity is usually the determining factor in choosing the best transducer model for
your application. The end-effector attached to the transducer as well as the tasks being
performed will generate forces on the transducer, which will result in a moment. The moment
is the applied force (dynamic and static together) multiplied by the distance from the
transducer origin to the point at which the force is applied. It is important to also consider
overload conditions beyond the normal operating forces and moments the transducer will
experience.
7.1.2 Identify transducer strength
Use the Quick-Selection Guide below to compare the measuring ranges of the transducer
models available.
Specification
Description
Nano17 Nano25 Nano43 Mini40 Mini45 Gamma Delta Theta Omega160 Omega190
Max Fxy
±lb (±N)
12
(50)
50
(250)
8
(36)
20
(80)
120
(580)
30
(130)
150
(660)
600
(2500)
600
(2500)
1600
(7200)
Max Txy
±in-lb (±N-m)
4
(0.5)
50
(6)
4
(0.5)
40
(4)
160
(20)
100
(10)
600
(60)
3600
(400)
3600
(400)
12000
(1400)
Weight
†
lb (kg)
0.02
(0.01)
0.14
(0.07)
.09
(.04)
0.11
(0.05)
0.20
(.09)
0.56
(0.25)
2.0
(0.91)
11.0
(4.99)
6.0
(2.72)
14.0
(6.35)
Diameter
†
in (mm)
0.67
(17)
0.99
(25)
1.69
(43)
1.57
(40)
1.77
(45)
2.97
(75.4)
3.72
(94.5)
6.10
(155)
6.14
(156)
7.48
(190)
Height
†
in (mm)
0.57
(14.5)
0.85
(21.6)
0.45
(11.5)
0.48
(12.3)
0.62
(15.7)
1.31
(33.3)
1.31
(33.3)
2.41
(61.1)
2.20
(55.9)
2.20
(55.88)
†
Specifications include standard interface plates.
7.1.3 Verify resolution
Next, the required resolution should be considered. A fine resolution requirement can conflict
with a transducer chosen based on moment capacity. Transducers with larger ranges have
coarser resolutions.
7.1.4 Inspect other transducer specifications
Compare the detailed specifications of the chosen transducer to those of your application
requirements to be certain the chosen transducer is appropriate for your application.
Example
The expected maximum measured load is 98N (10Kg) of force and the end-effector is 25cm
long. The moment generated would be 24.5N-m.
The best F/T would be a Delta/SI-330-30 (330N, 30N-m) which can handle the 24.5N-m
moment. The maximum single-axis moment rating (Txy) of this model is 230 N-m, which
should be sufficient for overload situations.
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