5. Specifications

The following sections provide data on the various specifications of the Robotiq Force Torque Sensor.

Section 5.1 details the technical dimensions of the sensor.
Section 5.2 details the mechanical specifications.
Section 5.3 covers signal specifications (data acquisition).
Section 5.4 specifies electrical rating.
Section 5.5 covers the technical dimensions of the sensor coupling options.

5.1. Technical Dimensions

Fig. 5.1: Robotiq FT 300 Sensor general technical dimensions.

Info

Reminder: Measures are in millimeters.

5.1.1. Tool Side Bolt Pattern

The figure below illustrates the bolt pattern used for tool fixation on the FT 300 Sensor.

Bolt pattern diameter is 50 mm
Mounting holes are M6 thread, 6 mm deep.
Indexing hole for M6 dowel pin has a tight fit (H7) and 6 mm deep.
Outside diameter of the flange is 64 mm and inside is 45 mm.

Info

FT 300 tool side bolt pattern matches ISO-9409-1-50-4M6.

Fig. 5.2: FT 300 Sensor tool side bolt pattern.

5.2. Mechanical Specifications

Info

Reminder: all units are within the metric measurement system.

SPECIFICATION		VALUE
Approximate weight		300 g
Overload capacity		A combined load exceeding 500% of the measuring range will permanently damage the Force Torque Sensor (Fx/300 + Fy/300 + Fz/300 + Mx/30 + My/30 + Mz/30 < 500%)
Outside diameter		75 mm
Thickness		37.5 mm
IP rating		43¹
Stiffness	F_x, F_y	35 X 10⁶ N/m
	F_z	30 X 10⁶ N/m
	M^x, M^y	10,000 Nm/rad
	M_z	20,000 Nm/rad

¹Expected rating, certification is planned and will be forthcoming (see manual revision date).

5.2.1. Moment of Inertia and Center of Mass

The coordinate system used for calculating the moment of inertia and center of mass for the FT Sensor is shown in the figure below.

Info

All values are approximate. Actual coordinates may vary according to various options present on the Sensor.

Here is the approximate position of the center of mass for the FT Sensor:

Sensor	Combination	y (mm)	z (mm)	Mass (g)
FT 300	-	0	17	300
	2-Finger 85	0	76	1205
	2-Finger 140	0	83	1275
	Wrist Camera	2	30	530
	Wrist Camera and 2-Finger 85	1	77	1275
	Wrist Camera and 2-Finger 140	1	85	1340

Here is the approximate moment of inertia matrix for the FT Sensor, taken at the coordinate system origin:

Fig. 5.3: Moment of inertia of the FT 300 Sensor.

5.2.2. Overload Capacity

The FT 300 sensors have overload capacities, the overload capacity specification includes load and torque values in all 3 axes.

Info

For loads between the measuring range and the overload capacity, the signal will be saturated. The sensor will not undergo permanent damage if the overload capacity is not reached.

Warning

Exceeding the overload capacity will permanently damage the sensor.

Sensor	Measuring range	Overload capacity¹
FT 300	+/- 300 N	1500 N (500%)²

¹Overload capacity with all axes combined.

²Maximum load expressed in % of measuring range.

The overload capacity given includes forces and torques in all 3 axes. To get an approximation of the total load, these formulas must be used:

For the FT 300

Fx/300 + Fy/300 + Fz/300 + Mx/30 + My/30 + Mz/30 < 500%

5.3. Signal Specifications

SPECIFICATION		FT 300 (prior to 10/2017)	FT 300
Measuring range	Force	±300 N
Measuring range	Torque	± 30 Nm
Signal noise*	Fx, Fy	1.2 N	0.1 N
	Fz	0.5 N	0.1 N
	Mx, My	0.02 Nm	0.005 Nm
	Mz	0.03 Nm	0.003 Nm
Recommended threshold when mounted on a robot	Fx, Fy	5 N	1 N
	Fz	2 N	1 N
	Mx, My	0.08 Nm	0.02 Nm
	Mz	0.12 Nm	0.01 Nm
External noise sensitivity**		Immune
Data output rate		100 Hz
Temperature compensation***		15 to 35 °C

*Signal noise is the standard deviation of the signal measured over a period of one (1) second

**Under normal operating conditions

***Within this range, the temperature fluctuation is compensated for; signal quality may be affected outside of this range

Caution

The recommended threshold represents the smallest variations that can be detected by the sensor.

The signal noise is the limiting factor for the Sensor's precision.For the FT 300, the signal noise defined in the signal specifications is the standard deviation of each data (Fx, Fy, Fz, Mx, My, Mz) over 1 second. In order to use that signal noise information, three times the standard deviation given must be used. According to the normal distribution, three times the standard deviation will cover almost all values possible (99.7%).

Info

Noise is an unwanted and unpredictable alteration to a signal. It may come from electrical or electromagnetic sources and degrades the quality of the Sensor's signal.

5.4. Electrical Ratings

SPECIFICATION	VALUE
Input voltage	5 to 24 V DC ± 10%
Max power consumption	2 W
Communication electrical interface	RS-485
Recommended fuse	Phoenix #0916604 (UT6-TMC M 1 A)
Recommended power supply	TDK-Lambda DPP Series 15W Single Output DIN Rail Mount Power Supply, DPP15-24

5.5. Couplings

For a detailed list of available couplings and adapter plates, please refer to the Spare Parts, Kits and Accessories section.

The following subsections contain data required for custom couplings or creating couplings from blanks.

Info

All Robotiq couplings and adapter plates are provided with necessary hardware for fixation on the Robotiq device side.

Caution

Unless identified for specific packages only, robot side screws and indexing pins are not provided.

5.5.1. Blank Coupling

The figure below schematics represent the optional blank coupling for the FT 300 Sensor :

(7) M4 threads and the 63 mm (H8) circle are meant to affix the FT 300.
The circular section of 75 mm diameter (blue section in the figure below) represents the customization area and has a depth of 5 mm.

Warning

Make sure your custom design does not interfere with the M4 threads or the 63 mm, H8 centering circle.

Spare part list number is FTS-300-CPL-BLANK.
Fig. 5.4: Technical dimensions of the blank coupling for the FT 300.