Attaching The Force Sensor; Attachment Adapter; Sensor Installation - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

5 Attaching the Force Sensor

This Chapter describes how to attach the force sensor. The force sensor is a precision measuring instrument,
and attaching it carelessly may lead to a drop in accuracy or fault. Always check the following before performing
attachment.
Furthermore, it is necessary to correctly define the correlation between the sensor coordinate system and robot
coordinate system. Refer to the recommended attachment method in section
attachment angle.

5.1 Attachment Adapter

A dedicated "sensor attachment adapter" is required to secure the force sensor to the robot. As shown in the
following diagram, attach the sensor attachment bracket to the robot mechanical interface before installing the
force sensor.
<If preparing your own attachment adapter>
Refer to section 3.6.1 for details on the attachment shape at the sensor side. Furthermore, refer to the separate
"Standard Specifications" for details on the shape of the robot mechanical interface.
(When using the FH-F series, you should purchase the sensor attachment adaptor separately.)

5.2 Sensor Installation

The force sensor is secured by tightening the bolts built in to the sensor from the bolt holes on the force sensor
tool side. Tighten each bolt in order diagonally a little at a time to ensure even contact between the sensor
installation surface and sensor attachment adapter. The sensor may be damaged if any of the bolts are overly
tightened at one time, and therefore caution is advised. Always tighten each bolt a little at a time until the
recommended torque value is reached (see below).
Caution
Mechanical interface
RV-2/4/7F: φ5 pin
RV-13/20F: φ6 pin
(4)
(1)
(2)
(3)
The sensor may be damaged if any of the bolts are overly tightened at one time,
and therefore caution is advised.
5.3
Sensor attachment adapter
φ3 pin
φ3 pin
Tightening torque [Nm]
1F-FS001-W200
1F-FS001-W1000
5 Attaching the Force Sensor
for details on the sensor
Hexagon socket head screw
RV-2/4/7F: M5 x 12
RV-13/20F: M6 x 14
6
10
Attachment Adapter 5-25