Installing the Force Sensor

S2503, S2506, S25010 (for the GX series)

1. Turn OFF the Controller.
2. Remove the sensor flange from the Force Sensor. (A)
   Force Sensor fixing bolts (Hexagon socket head cap bolts: 4-M4×15)
   (The sensor is fixed to the sensor flange at the time of shipment.)
3. Fix the sensor flange and the adapter (B)
   Sensor flange fixing bolts (Hexagon socket head bolts 4-M5×15)
   Recommended tightening torque: 8.0 N m
4. Insert and fix the adapter at 30 mm from the end of the Z-axis shaft. (C)
   If the Z stopper position has not been changed since the time of shipment, fix the adapter where it touches the Z stopper.
   Fix with the following bolts (a) and (b).
   Adjust the direction of the bolt (b) so as to touch the D-cut face on the Z-axis shaft vertically.

   • Adapter fixing bolt (a):
     Stud clamp bolt (Hexagon socket head cap bolt: M5× 20)
     Recommended tightening torque: 8.0 N m
   • Adapter fixing bolt (b):
     Set screw (Hexagon socket set screw: M4×10)
     Recommended tightening torque: 2.4 N m
     

5. Connect the Force Sensor cable to the connector (D) on the Force Sensor.
   There are two types of board for the sensor. The installation method varies depending on the sensor. note that
   When passing the Force Sensor cable to the Z-axis hollow shaft, follow the following steps.

   (1) Pass the Force Sensor cable through from the upper part of the shaft.
   (2) Pull the cable out through the opening in the adapter.
   (3) Connect the Force Sensor cable to the connector (D) on the Force Sensor.
   

6. Install the Force Sensor on the sensor flange fixed in step 3. (A)Align the cutouts (F) on the sensor flange and the Force Sensor. Insert the sensor flange while inserting the two positioning pins on the sensor flange to the sensor. At this time, adjust the position of the Force Sensor cable so that the part wrapped with the heat shrinkable tube to be at (E).
7. Fix the sensor flange and the Force Sensor with the bolts removed in step 2.
   Force Sensor fixing bolts (Hexagon socket head cap bolts: 4-M4×15)
   Recommended tightening torque: 4.0 N m
8. Fix the Force Sensor cable to the Manipulator. Set the cable so as not to interfere with Manipulator motion and not to apply load on the cable. For details of cable wiring and grounding, refer to the following section. Hardware Wiring of the Force Sensor Cable
9. Connect the Force Sensor M/I connection cable to the FORCE SENSOR connector on the controller.