Intelligent Force Sensor

Intelligent force sensing for eCobra 600/800 Standard and Pro, Viper 650/850, Hornet 565 and Quattro 650/800

Omron’s global industry focus

Our engineering, support and service resources are aligned to our focused industriesIndustry solutions and application expertise

Food, beverage and pharma packaging

Semiconductor and digital Machine toolAutomotive

Intelligent Force Sensing – What's the Deal?

• What ……The Intelligent Force Sensor is a device that detects forces and moments in end of arm effector. The force is converted into data that is transmitted to the controller. The controller can then filter, scale, translate, and transform the data enables precise positioning and control in all axes.

Intelligent Force Sensing – What's the Deal?

• Who……The Intelligent Force Sensor enables users requiring tight integration with the servo loop to exploit the full capabilities of the Omron Adept manipulators. Opening up opportunities in Polishing, Force-Insertion, and Precise Assembly.

Intelligent Force Sensing – What's the Deal?

• How ……The Intelligent Force Sensor uses proven technology from JR3 and is a cylindrically shaped monolithic aluminum device containing analog and digital electronics systems.

Foil strain gages bonded to multiple internal load-bearing elements sense the loads imposed on the sensor. The strain gage signals are amplified and combined to produce analog representations of the forces along three orthogonal axes (x,y and z) as well as the moments or torques about those axes.

eV+ has native functionality via the Alter command to respond to these signals

Force Sensing Integrated Solution Providers

Competitive Matrix – Sensor Specs Spec/Feature = good, ok, poor, no information.

6 Axis Sensors OAT Epson Yaskawa ABB (ATI) Mitsubishi Fanuc Kuka (ATI)*Rated Load (Fx, Fy) 200 N 250 N 200, 1000 N 165, 660, 2500 N 200, 1000 N 147, 392, 980, 2500 N 165, 660, 2500 N

Rated Linear Load (Fz) 400 N 250 N 200, 1000 N 495, 1980, 6250 N 200, 1000 N 147, 392, 980, 2500 N 495, 1980, 6250 N

Rated Torque Load 12 Nm 18 Nm 4, 30 Nm 15, 60, 400 Nm 4, 30 Nm 12, 40, 156, 500 Nm 15, 60, 400 Nm

Resolution (Fx, Fy) ±0.05 N ±0.1 N ±0.024, 0.12 N ±0.03, 0.12, 0.5 N 0.3 N 0.39, 1, 2, 5 N ±0.03, 0.12, 0.5 N

Resolution (Fz) ±0.1 N ±0.1 N ±0.024, 0.12 N ±0.06, 0.25, 1 N 0.3 N 0.39, 1, 2, 5 N ±0.06, 0.25, 1 N

Resolution (Mx, My, Mz) ±0.003 Nm ±0.003 Nm ±0.0005, 0.003 Nm

±0.002, 0.008, 0.05Nm

0.03 Nm 0.016, 0.029, 0.08, 0.25 Nm

±0.002, 0.008, 0.05 Nm

Nominal Accuracy ±1 % ±5 % ? ? ? ±2% ?

Temperature of Operation

-40 to 65 ºC -10 to 40 ºC 0 to 40 ºC -40 to 100 ºC ? ? -40 to 100 ºC

IP Rating IP 40 IP20, IP67 IP65 IP65 IP30 ? IP65

Sample Rate 8 kHz 1 kHz 2 kHz ? ? ? ?

Requires Controller and/or DAQ

N Y Y Y Y N Y

Requires External Power Supply

N Y Y N Y N Y

Compatible robots SCARA, 6 axis, Parallel

SCARA, 6 axis SCARA, 6 axis SCARA, 6 axis, Parallel

SCARA, 6 axis 6 axis 6 axis

*Kuka markets a software platform, therefore supports many ATI Sensors. On the table, data corresponds to the same ATI sensors as ABB

Integrated Force Sensing Hardware Comparison

Sensor features and variety in offerings

Easy

Medium

Complex

System Installation Complexity

Low Medium Large

Integrated Force Sensing Software Comparison

Amount of functions/modes of operation

Easy

Medium

Complex

Install and Programming Complexity

Low Medium Large

Intelligent Force Sensing – What's the Deal?

• When ……The Intelligent Force Sensor is a available now in a kit that includes the sensor, user guide, mount/flange adapters, and the cables/connectors.

Force Sensor and Kit Description

14161-100 eCobra 600/800/800 inv (Standard and Pro)

14161-200 Viper 650/850

14161-300 Hornet 565 and Quattro 650/800

Special kits are also available to update existing sensors to new robot types and as spares.

Kit* Description

14161-105 eCobra 600/800/800 inv (Standard and Pro)

14161-205 Viper 650/850

14161-305 Hornet 565 and Quattro 650/800