DELTA

Product Advantages
Extremely High Strength: Precision machined from high-strength aircraft aluminum. Overload pin stops make this an especially rugged transducer. Maximum allowable single-axis overload values are 2.8 to 12.9 times rated capacities. High Signal-to-Noise Ratio: Silicon strain gages provide a signal 75 times stronger than conventional foil gages. This signal is amplified, resulting in near-zero noise distortion. IP60, IP65 and IP68 (10m) Versions Available: An IP60 version is for use in dusty environments. The IP65 version of the transducer provides protection against water spray. The IP68 version is for underwater environments to a maximum depth of 10 meters in fresh water. Contact ATI Industrial Automation for drawings and more information.
The Delta F/T transducer The transducer is made of hardened stainless steel, and the standard mounting adapter is made of highstrength aircraft aluminum.

Typical Applications
Real-time force control Haptics feedback SENSING RANGES Axes
Fx, Fy (lbf) Fz (lbf) Tx, Ty (lbf-in) Tz (lbf-in)

Robotic assembly Rehabilitation research Calibrations US-50-150

50 150 150 150

US-75-300
75 225 300 300

US-150-600
150 450 600 600

E NGLISH C ALIBRATIONS

RESOLUTION Axes
Fx, Fy (lbf) Fz (lbf) Tx, Ty (lbf-in) Tz (lbf-in)

System Type* CTL Net/DAQ

1/64 1/32 3/64 1/32 1/128 1/64 3/128 1/64

CTL
1/32 1/16 3/32 1/16

Net/DAQ
1/64 1/32 3/64 1/32

CTL
1/16 1/8 3/16 1/8

Net/DAQ
1/32 1/16 3/32 1/16

SENSING RANGES Axes

Fx, Fy (N) Fz (N) Tx, Ty (Nm) Tz (Nm)

Calibrations SI-165-15
165 495 15 15

SI-330-30
330 990 30 30

SI-660-60
660 1980 60 60

M ETRIC C ALIBRATIONS

RESOLUTION Axes
Fx, Fy (N) Fz (N) Tx, Ty (Nm) Tz (Nm)

System Type* CTL Net/DAQ

1/16 1/8 1/264 1/264 1/32 1/16 1/528 1/528

CTL
1/8 1/4 10/1333 10/1333

Net/DAQ
1/16 1/8 5/1333 5/1333

CTL
1/4 1/2 5/333 5/333

Net/DAQ
1/8 1/4 10/1333 10/1333

*CTL: Controller F/T System; Net: Net F/T System; DAQ: 16-bit DAQ F/T System. The resolution is typical for most applications and can be improved with filtering. Resolutions quoted are the effective resolution after dropping four counts of noise (Net/DAQ) or eight counts of noise (CTL). All sensors calibrated by ATI. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly (refer to the transducer manual for complex loading information).

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Single-Axis Overload
Fxy Fz Txy Tz

English 580 lbf 1900 lbf 2500 lbf-in 3600 lbf-in

Metric 2600 N 8600 N 290 Nm 400 Nm Metric

3.6x107 N/m 5.9x107 N/m 5.2x104 Nm/rad 9.1x104 Nm/rad

Stiffness

(Calculated)

English
2.0x10 lb/in
5

X-axis & Y-axis force (Kx, Ky) Z-axis force (Kz) X-axis & Y-axis torque (Ktx, Kty) Z-axis torque (Ktz)

3.4x105 lb/in 4.6x105 lbf-in/rad 8.1x105 lbf-in/rad

(Non-IP rated, Measured)

I use the ATI Delta force transducers to measure multi-axial forces and moments applied by the foot during pedaling of an experimental bicycle ergometer. These transducers are a simple, accurate, and cost-effective measurement tool and they enable me to collect data on movement behavior in healthy individuals and persons with post-stroke hemiparesis. David A. Brown, PT, PhD Physical Therapist Scientist

Resonant Frequency
Fx, Fy, Tz Fz, Tx, Ty

1500 Hz 1700 Hz

Physical Specifications
Weight* Diameter* Height*

English
2.01 lb 3.7 in 1.3 in

Metric
0.913 kg 94 mm 33 mm

*Specifications include standard interface plates and are for non-IP rated models. Diameter excludes any connector block.

ATI INDUSTRIAL AUTOMATION

www.ati-ia.com
MOUNTING ADAPTER PLATE 9230-05-1063 CUSTOMER MACHINES MOUNTING PATTERN AS NEEDED IN PLATE. REMOVE PLATE PRIOR TO MACHINING. 33.3 28.6 28

DELTA F/T DAQ TRANSDUCER

+X

STANDARD TOOL ADAPTER

+X

60 TYP 92 94.5 -Y 21.5 +Y 30 -Z +Z 73

Sensing Reference Frame Origin

6.060 5.6 6.035 SLIP FIT (SEE NOTE 3) (B.C. 50) +0.018 16 ISO H7 FIT -0 3.6 DEEP CHAMFER 1.0 x 45 -Y

250.013 +Y

21.4

45 TYP.

(4) M6-1, 5.6 DEEP (SEE NOTE 3) B.C. 50 -X Sensing Reference Frame Origin

-X 12.5 63.6 18.5 57.9 1.2 19.1 MOUNTING SIDE NOTES: 1. Material: Hardened stainless steel and aluminum. 2. Do Not Touch internal electronics or instrumentation this could damage transducer and will void warranty. 3. TO AVOID DAMAGE, DO NOT EXCEED INTERFACE DEPTH. 4. Transducer must be mounted to surfaces rigid enough to support loads without deflection for best accuracy. SIDE VIEW

TOOL SIDE

ISOMETRIC VIEW

Customer Drawing # 9230-05-1130-04

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