Tool Installation - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

5 Attaching the Force Sensor

5.5 Tool installation

Use the bolt specified below when attaching a hand to the tool side of the force sensor. Tighten bolts little by
little to ensure even contact.
Nominal
diameter
1F-FS001-W200
1F-FS001-W1000
Also, pay attention to the following points. Inappropriate installation will lead to obtaining inaccurate force data,
adversely affecting performance of the force sense control.
Ensure that the hand attachment surface is as flat as possible, and ensure sufficient stiffness to avoid any

loss in force or moment.
Do not attach the sensor in such a way that its attachment prevents movement of movable parts of the

force sensor (as a result of inappropriate cable routing, etc.).
Caution
Caution
5-28 Tool installation
Tightening
torque [Nm]
M6
M6
For fixing the tool, do not apply the load equal to or beyond the rated load
(especially the moment load) to the force sensor. When a load beyond the rated
load is applied repeatedly, distortion occurs gradually inside the sensor. Therefore,
the force does not be detected precisely.
There are some hands equipped with air supply cables and/or power supply
cables. Attaching them to the tool side of the force sensor will cause the cables to
be swung, resulting in generation of a centrifugal force, which may adversely affect
the accuracy of obtained force data. The accuracy of the data may also be
affected by the weight of the cables. Take appropriate measures, such as fixing
the cables to the sensor attachment adapter.
Engagement
allowance [mm]
6 8 to 11
10 10 to 15
Tapped hole for installation
Tool