Installing the Force Sensor

S250A-ISO2-S (CX4, CX7 series: IP20 internal wiring compliant)

image

Symbol Description
a Robot Flange
b

Force Sensor fixing bolts (2)(4)

Hexagon head bolts: 4-M4×12 / Recommended tightening torque: 2.7 N×m

c Sensor Flange CX4, CX7-IP20 compliant :low-height product
d

Robot fixing bolts (3)

Low head socket head cap screw: 4-M5×8 / Recommended tightening torque: 5.4 N×m

e Force Sensor CX4, CX7-IP20 compliant: S250A-ISO2-S

  1. Turn OFF the Controller.

  2. Remove the sensor flange from the Force Sensor.(A)
    Force Sensor fixing bolts (Hexagon head bolts: 4-M4×12)
    (The sensor is fixed to the sensor flange at the time of shipment.)

  3. Install the sensor flange on the robot flange.(B)
    Align the two positioning points on the sensor flange (its positioning pins and the projection at its center) with the robot flange and fit the two together. Fix the sensor flange to the robot flange with the robot fixing bolts included with shipment.
    Robot fixing bolts (Low head socket head cap screw: 4-M5×8)
    Recommended tightening torque: 5.4 N×m

  4. Install the Force Sensor on the sensor flange fixed in step 3. (A)
    image
    Align the cutouts (D) on the sensor flange and the Force Sensor. Insert the sensor flange by inserting the two positioning pins on the sensor flange to the positioning holes (C) on 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).
    Fix the sensor flange and the Force Sensor with the bolts removed in step 2.
    Force Sensor fixing bolts (Hexagon head bolts: 4-M4×12)
    Recommended tightening torque: 2.7 N×m

  5. Connect the Force Sensor cable to the user connector (RJ45 connector) on the Manipulator.
    image

    Symbol Description
    a Force Sensor Cable
    b User connector (RJ45 connector)

  6. Connect the Force sensor M/I cable (a) to the F sensor cable connector (b) and FORCESENSOR connector (c) of the Controller.
    image

S250A-ISO2-S (CX4, CX7 series: IP20 external wiring compliant)

image

Symbol Description
a Robot Flange
b

Force Sensor fixing bolts (2)(4)

Hexagon head bolts: 4-M4×12 / Recommended tightening torque: 2.7 N×m

c Sensor Flange CX4, CX7-IP20 compliant :low-height product
d

Robot fixing bolts (3)

Low head socket head cap screw: 4-M5×8 / Recommended tightening torque: 5.4 N×m

e Force Sensor CX4, CX7-IP20 compliant: S250A-ISO2-S
  1. Turn OFF the Controller.
  2. Remove the sensor flange from the Force Sensor.(A)
    Force Sensor fixing bolts (Hexagon head bolts: 4-M4×12)
    (The sensor is fixed to the sensor flange at the time of shipment.)
  3. Install the sensor flange on the robot flange.(B)
    Align the two positioning points on the sensor flange (its positioning pins and the projection at its center) with the robot flange and fit the two together. Fix the sensor flange to the robot flange with the robot fixing bolts included with shipment.
    Robot fixing bolts (Low head socket head cap screw: 4-M5×8)
    Recommended tightening torque: 5.4 N×m
  4. Install the Force Sensor on the sensor flange fixed in step 3. (A)
    image
    Align the cutouts (D) on the sensor flange and the Force Sensor. Insert the sensor flange by inserting the two positioning pins on the sensor flange to the positioning holes (C) on 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).
    Fix the sensor flange and the Force Sensor with the bolts removed in step 2.
    Force Sensor fixing bolts (Hexagon head bolts: 4-M4×12)
    Recommended tightening torque: 2.7 N×m
  5. 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.
  6. Connect the force sensor cable and the force sensor M/I connection cable. Store the connector part inside the connector cover. Secure the cables with the included cable ties (A), and close the connector cover.
    image
Symbol Description
a Force Sensor Cable
b Ground wire
c Force sensor M/I cable
d Connector cover
  1. Secure the connector cover in a position that does not interfere with the manipulator's operation and does not put strain on the cables.
  2. Secure the earth terminal of the force sensor lead wire to the manipulator base.
    Earth terminal fixing screw: M8×12
    image
  3. Connect the Force sensor M/I cable to the FORCE SENSOR connector of the Controller.
    image

S250A-ISO2-P (CX4, CX7 series: IP67 compliant)

image

Symbol Description
a Robot Flange
b

Force Sensor fixing bolts (2)(4)

Hexagon head bolts: 4-M5×12 / Recommended tightening torque: 5.4 N×m

c Sensor Flange C8-IP67 compliant
d Seal washer ×4 (3)
e

Robot fixing bolts (3)

Hexagon socket button head bolts: 4-M5×12 / Recommended tightening torque: 5.4 N×m

f Force Sensor CX4, CX7-IP67 compliant: S250A-ISO2-P

  1. Turn OFF the Controller.

  2. Remove the sensor flange from the Force Sensor.(A)
    Force Sensor fixing bolts (Hexagon head bolts: 4-M5×12)
    (The sensor is fixed to the sensor flange at the time of shipment.)

  3. Install the sensor flange on the robot flange.(B)
    First, insert the sensor flange while aligning its two positioning points (positioning pins and the projection at the center) to the robot flange.
    Then, insert the seal washers to the root of the robot fixing bolts included with shipment.
    Robot fixing bolts (Hexagon socket button head bolts: 4-M5×12)
    Recommended tightening torque: 5.4 N×m

  4. Install the Force Sensor on the sensor flange fixed in step 3. (A)
    image

    Symbol Description
    a Rubber seal

    Install the Force Sensor so that the three positioning pins on the sensor flange and the positioning holes (C) on the sensor fit each other. When inserting the sensor, try to prevent the foreign material from attaching to the mounting face. Also, be careful not to touch the rubber seal.Fix the sensor flange and the Force Sensor with the bolts removed in step 2.
    Force Sensor fixing bolts (Hexagon head bolts: 4-M5×12)
    Recommended tightening torque: 5.4 N×m

  5. Connect the Force Sensor cable to the user connector (RJ45 connector) on the Manipulator.
    image

    Symbol Description
    a Force Sensor Cable
    b User connector (RJ45 connector)

  6. Connect the Force sensor M/I cable (a) to the F sensor cable connector (b) and FORCESENSOR connector (c) of the Controller.
    image

How to lock the Connector with the lock:

  1. Insert the connector all the way.

  2. Rotate the second lock approximately 30°.

  3. Lock is complete.
    image

    Symbol Description
    a Second lock

S250L (For C8, C12 series: IP20 compliant)

image

Symbol Description
a Robot Flange
b

Force Sensor fixing bolts (2)(4)

Hexagon head bolts: 4-M5×12/Recommended tightening torque: 5.4 N×m

c Sensor Flange C8, C12-IP20 compliant
d

Robot fixing bolts (3)

Hexagon socket button head bolts: 4-M5×15/Recommended tightening torque: 5.4 N×m

e Force Sensor C8, C12-IP20 compliant: S250L

  1. Turn OFF the Controller.

  2. Remove the sensor flange from the Force Sensor. (A)
    Force Sensor fixing bolts (Hexagon head bolts: 4-M5×12)
    (The sensor is fixed to the sensor flange at the time of shipment.)

  3. Install the sensor flange on the robot flange. (B)
    Align the two positioning points on the sensor flange (its positioning pins and the projection at its center) with the robot flange and fit the two together. Fix the sensor flange to the robot flange with the robot fixing bolts included with shipment.
    Robot fixing bolts (Hexagon socket button head bolts: 4-M5×15)
    Recommended tightening torque: 5.4 N m

  4. Install the Force Sensor on the sensor flange fixed in step 3. (A)There are two types of board for the sensor but note that the sensor installation method is the same. note that
    image image
    Align the cutouts (D) on the sensor flange and the Force Sensor. Insert the sensor flange by inserting the two positioning pins on the sensor flange to the positioning holes (C) on 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).
    Fix the sensor flange and the Force Sensor with the bolts removed in step 2.
    Force Sensor fixing bolts (Hexagon head bolts: 4-M5×12)
    Recommended tightening torque: 5.4 N m

  5. Connect the Force Sensor cable to the F-sensor cable connector on the Manipulator.
    There are 2 types of Connector for Robot and Force Sensor as shown below. note that
    image
    image image

    Symbol Description
    a F-sensor cable connector
    b Force Sensor Cable

  6. Connect the Force sensor M/I cable (a) to the F sensor cable connector (b) and FORCESENSOR connector (c) of the Controller.
    image
    Operate the Manipulator to any posture, and then record the initial sensor output data.

S250P (For C8, C12 series: IP67 compliant)

image

Symbol Description
a Robot Flange
b

Force Sensor fixing bolts (2)(4)

Hexagon head bolts: 4-M5×12/Recommended tightening torque: 5.4 N×m

c Sensor Flange C8, C12-IP67 compliant
d Seal washer ×4 (3)
e

Robot fixing bolts (3)

Hexagon socket button head bolts: 4-M5×18/Recommended tightening torque: 5.4 N×m

f Force Sensor C8, C12-IP20 compliant: S250P

  1. Turn OFF the Controller.

  2. Remove the sensor flange from the Force Sensor. (A)
    Force Sensor fixing bolts (Hexagon head bolts: 4-M5×12)(The sensor is installed to the sensor flange at the time of shipment.)

  3. Install the sensor flange on the robot flange. (B)
    First, insert the sensor flange while aligning its two positioning points (positioning pins and the projection at the center) to the robot flange.
    Then, insert the seal washers to the root of the robot fixing bolts included with shipment.
    Robot fixing bolts (Hexagon socket cap bolts: 4-M5×18)
    Recommended tightening torque: 5.4 N m

  4. Install the Force Sensor on the sensor flange fixed in step 3. (A)
    Viewed from behind, there are three types of sensor exterior, but the installation method is the same for all of them. note that
    image

    Symbol Description
    a Rubber seal

Install the Force Sensor so that the three positioning pins on the sensor flange and the positioning holes (C) on the sensor fit each other. When inserting the sensor, try to prevent the foreign material from attaching to the mounting face. Also, be careful not to touch the rubber seal. Fix the sensor flange and the Force Sensor with the bolts removed in step 2.
Force Sensor fixing bolts (Hexagon head bolts: 4-M5×12)
Recommended tightening torque: 5.4 N m

  1. Connect the Force Sensor cable to the F-sensor cable connector on the Manipulator.
    There are 2 types of Connector for Robot and Force Sensor as shown below. note that
    image
    image image

    Symbol Description
    a F-sensor cable connector
    b Force Sensor Cable

  2. Connect the Force sensor M/I cable (a) to the F sensor cable connector (b) and FORCESENSOR connector (c) of the Controller.
    image

How to lock the Connector with the lock:
image

Symbol Description
a Second lock

S2503, S2506, S25010 (for the GX series, LS series, RS series)

image a Z-axis shaft
b

Adapter fixing bolt (4)

Hexagon head cap bolt: M5×20 / Recommended tightening torque: 8.0 N×m

c Adapter
d

Force Sensor fixing bolts (2)(7)

Hexagon head cap bolts: 4-M4×15 / Recommended tightening torque: 4.0 N×m

e Sensor Flange For SCARA robot
f

Sensor flange fixing bolts (3)(6)

Hexagon head cap bolts: 4-M5×15 / Recommended tightening torque: 8.0 N×m

g Force Sensor: S2503, S2506, S25010
  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
      image
Symbol Description
a Adapter fixing bolt (a)
b Adapter fixing bolt (b)
c D cut face

CAUTION

  • The Z-axis shaft of the RS6 series has two opposing D-cut surfaces. The force sensor can also be installed in a 180° rotated direction, so be sure to check the orientation and install it correctly.
  • When the J4 axis of the RS6 is set to 0 degrees, align the adapter fixing screw b with the D-cut surface that comes closest to the U-axis origin mark.
    image
Symbol Description
a U-axis origin mark
b D cut face
  1. 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.
    image image

  2. 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).
  3. 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
  4. 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
  5. Connect the Force Sensor M/I connection cable to the FORCE SENSOR connector on the controller.

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