9620-05-Transducer Section

F/T Transducer
Six‑Axis
Force/Torque Sensor System
Installation and Operation Manual
Document #: 9620-05-Transducer Section
Engineered Products for Robotic Productivity

Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: +1‑919.772.0115 • Fax: +1‑919.772.8259 • www.ati‑ia.com
Manual, F/T Transducer Section
Document #9620-05-Transducer Section‑26
Foreword
Information contained in this document is the property of ATI Industrial Automation, Inc. and shall not be reproduced in
whole or in part without prior written approval of ATI Industrial Automation, Inc. The information herein is subject to
change without notice and should not be construed as a commitment on ATI Industrial Automation, Inc. This manual is
periodically revised to reflect and incorporate changes made to the F/T system.
ATI Industrial Automation, Inc. assumes no responsibility for any errors or omissions in this document. Users’ critical
evaluation is welcome to assist in the preparation of future documentation.
©Copyright 2019 by ATI Industrial Automation. All rights reserved.
In consideration that ATI Industrial Automation, Inc (ATI) products are intended for use with robotic and/or automated
machines, ATI does not recommend the use of its products for applications wherein failure or malfunction of an ATI
component or system threatens life or makes injury probable. Anyone who uses or incorporates ATI components within
any potentially life threatening system must obtain ATI’s prior consent based upon assurance to ATI that a malfunction
of ATI’s component does not pose direct or indirect threat of injury or death, and (even if such consent is given) shall
indemnify ATI from any claim, loss, liability, and related expenses arising from any injury or death resulting from use of
ATI components.
All trademarks belong to their respective owners.

Windows is registered trademarks of Microsoft Corporation.
FCC Compliance ‑ Class A
This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device
may not cause harmful interference, and (2) this device must accept any interference received, including interference that
may cause undesired operation.
CE Conformity
CTL Transducers
This device complies with EMC Directive 89/336/EEC and conforms to the following standards:
EN50081‑1:1992, EN50082‑1:1992, CISPR 22:1993 (EN55022:1994), IEC 1000‑4‑2:1995,
IEC 1000‑4‑3:1995, IEC 1000‑4‑4:1995
DAQ Transducers
EN55011:1998, ANSI C63.4:1992, EN61000‑4‑2:1995, EN61000‑4‑3:1995, EN61000‑4‑4:1995,
EN61000‑4‑6:1995.
Net F/T Transducers
This device complies with EMC Directive 2004/108/EC and conforms to the following standards:
EN61326:1997+A1:1998+A2:2000,EN55022:1998_A1:2000+A2:2003,
EN61000‑4‑2:1995+A1:1998+A2:2001, EN61000‑4‑3:2000, EN61000‑4‑4:2004,
EN610000‑4‑5:1995+A1:1996, EN61000‑4‑6:1996+A1:2001, EN61000‑4‑8:1995, EN61000‑4‑11:2001.
TWE Transducers
EN50081‑1:1992, EN50082‑1:1992, CISPR 22:1993 (EN55022:1994), IEC 1000‑4‑2:1995,
IEC 1000‑4‑3:1995, IEC 1000‑4‑4:1995
Pinnacle Park • 1041 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati‑ia.com
2
Note
Please read the manual before calling customer service. Before calling, have the following
information available:
1. Serial number (e.g., FT01234)
2. Transducer model (e.g., Nano17, Gamma, Theta, etc.)
3. Calibration (e.g., US‑15‑50, SI‑65‑6, etc.)
4. Accurate and complete description of the question or problem
5. Computer and software information. Operating system, PC type, drivers, application
software, and other relevant information about your configuration.
If possible, be near the F/T system when calling.
How to Reach Us:
Sale, Service and Information about ATI products:

ATI Industrial Automation
1041 Goodworth Drive
Apex, NC 27539 USA
www.ati‑ia.com
Tel: +1.919.772.0115
Fax: +1.919.772.8259
Application Engineering
Tel: +1.919.772.0115, Extension 511
Fax: +1.919.772.8259
E‑mail: ft_support@ati‑ia.com
3
Table of Contents
Foreword........................................................................................................................................... 2
Glossary.......................................................................................................................................... 12
1. Safety........................................................................................................................................ 14
1.1 Explanation of Notifications........................................................................................................ 14
1.2 General Safety Guidelines........................................................................................................... 14
1.3 Safety Precautions....................................................................................................................... 14
2. Product Overview.................................................................................................................... 15
3. Installing the Transducer........................................................................................................ 16
3.1 Transducer Environment............................................................................................................. 16
3.2 Mounting the Transducer............................................................................................................ 16
3.2.1 Interface Plate Design....................................................................................................... 16
3.2.2 Mounting the Transducer with a Removable Mounting Adapter Plate............................... 19
3.2.3 Mounting the Transducer with a Non‑removable Adapter Plate........................................ 21
3.3 Routing the Transducer Cable.................................................................................................... 22
4. Topics....................................................................................................................................... 24
4.1 Accuracy over Temperature........................................................................................................ 24
4.2 Tool Transformation Effects........................................................................................................ 24
4.3 Environmental.............................................................................................................................. 25
4.4 Mux Transducer Input Filter Frequency Response .................................................................. 26
4.5 Transducer Strain Gage Saturation............................................................................................ 26
5. Transducer Specifications...................................................................................................... 27
5.1 Notes............................................................................................................................................. 27
5.1.1 About CTL Calibration Specifications................................................................................ 27
5.1.2 Complex Loading Graph Description................................................................................ 27
5.2 Nano17 Titanium.......................................................................................................................... 28
5.2.1 Nano17 Titanium Physical Properties............................................................................... 28
5.2.2 Calibration Specifications (excludes CTL calibrations) ..................................................... 28
5.2.3 CTL Calibration Specifications.......................................................................................... 29
5.2.4 CTL Analog Output............................................................................................................ 29
5.2.5 CTL Counts Value............................................................................................................. 29
5.2.6 Nano17 Titanium (US Calibration Complex Loading)........................................................ 30
5.2.7 Nano17 Titanium (SI Calibration Complex Loading)......................................................... 31
5.2.8 Nano17 Titanium Transducer Drawing.............................................................................. 32
5.3 Nano17 Specifications (Includes IP65/IP68 Versions).............................................................. 33
5.3.1 Nano17 Physical Properties.............................................................................................. 33
5.3.2 Nano17 IP65/IP68 Physical Properties............................................................................. 33
4
5.3.6 CTL Counts Value............................................................................................................. 35
5.3.7 Nano17 (US Calibration Complex Loading)(Includes IP65/IP68)1 ................................... 36
5.3.8 Nano17 (SI Calibration Complex Loading)(Includes IP65/IP68)1 ..................................... 37
5.3.9 Nano17‑E Transducer Drawing......................................................................................... 38
5.3.10 Nano17 IP65/IP68 Transducer with Axial Cable Exit Drawing.......................................... 39
5.3.11 Legacy Nano17 Transducer Drawing................................................................................ 40
5.4 Nano25 Specifications (Includes IP65/IP68 Versions).............................................................. 41
5.4.2 Nano25 IP65/IP68 Physical Properties............................................................................. 41
5.4.6 CTL Counts Value............................................................................................................. 43
5.4.7 Nano25 (US Calibration Complex Loading)(Includes IP65/IP68)1 ................................... 44
5.4.8 Nano25 (SI Calibration Complex Loading)(Includes IP65/IP68)1 ..................................... 45
5.4.9 Nano25‑E Transducer Drawing......................................................................................... 46
5.4.10 Nano25 IP65/IP68 Transducer with Axial Cable Exit Drawing.......................................... 47
5.4.11 Nano25 IP65/IP68 Transducer with Radial Cable Exit Drawing........................................ 48
5.4.12 Legacy Nano25 Transducer Drawing................................................................................ 49
5.5 Nano43 Specifications................................................................................................................. 50
5.5.5 CTL Counts Value............................................................................................................. 51
5.5.6 Nano43 (US Calibration Complex Loading)...................................................................... 52
5.5.7 Nano43 (SI Calibration Complex Loading)........................................................................ 53
5.5.8 Nano43 Transducer Drawing............................................................................................. 54
5.6 Mini27 Titanium Specifications................................................................................................... 55
5.6.1 Mini27 Titanium Physical Properties................................................................................. 55
5.6.5 CTL Counts Value............................................................................................................. 56
5.6.6 Mini27 Titanium (US Calibration Complex Loading).......................................................... 57
5.6.7 Mini27 Titanium (SI Calibration Complex Loading)........................................................... 58
5
5.6.8 Mini27 Titanium Transducer Drawing................................................................................ 59
5.6.9 Mini27‑E Titanium Transducer Drawing............................................................................ 60
5.7 Mini40 Specifications (Includes IP65/IP68 Versions)................................................................ 61
5.7.1 Mini40 Physical Properties................................................................................................ 61
5.7.2 Mini40 IP65/IP68 Physical Properties............................................................................... 61
5.7.6 CTL Counts Value............................................................................................................. 64
5.7.7 Mini40 (US Calibration Complex Loading)(Includes IP65/IP68)1 ..................................... 65
5.7.8 Mini40 (SI Calibration Complex Loading)(Includes IP65/IP68)1 ....................................... 66
5.7.9 Mini40‑E Transducer Drawing........................................................................................... 67
5.7.10 Legacy Mini40 Transducer Drawing.................................................................................. 68
5.7.11 Mini40 IP65/IP68 Transducer Drawing.............................................................................. 69
5.8 Mini45 Titanium Specifications................................................................................................... 70
5.8.1 Mini45 Titanium Physical Properties................................................................................. 70
5.8.5 CTL Counts Value............................................................................................................. 71
5.8.6 Mini45 Titanium (US Calibration Complex Loading).......................................................... 72
5.8.7 Mini45 Titanium (SI Calibration Complex Loading)........................................................... 73
5.8.8 Mini45 Titanium Axial Exit Transducer Drawing................................................................ 74
5.8.9 Mini45 Titanium Right Angle E‑Exit Transducer Drawing.................................................. 75
5.9 Mini45 Specifications (Includes IP65/IP68 Versions)................................................................ 76
5.9.6 CTL Counts Value............................................................................................................. 78
5.9.7 Mini45 (US Calibration Complex Loading)(Includes IP65/IP68)1 ..................................... 80
5.9.8 Mini45 (SI Calibration Complex Loading)(Includes IP65/IP68)1 ....................................... 81
5.9.9 Mini45‑E Transducer Drawing........................................................................................... 82
5.9.10 Mini45‑ERA Transducer Drawing...................................................................................... 83
5.9.11 Mini45‑AE Transducer Drawing......................................................................................... 84
5.9.13 Legacy Mini45 Transducer Drawing.................................................................................. 86
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5.10 Mini58 Specifications (Includes IP60/IP65/IP68 Versions)........................................................ 87
5.10.2 Mini58 IP60 Physical Properties........................................................................................ 88
5.10.7 CTL Counts Value............................................................................................................. 91
5.10.8 Tool Transform Factor....................................................................................................... 91
5.10.9 Mini58 (US Calibration Complex Loading)(Includes IP60/IP65/IP68)1 ............................. 92
5.10.10 Mini58 (SI Calibration Complex Loading)(Includes IP60/IP65/IP68)1 ............................... 93
5.10.11 Mini58 Transducer Drawing............................................................................................... 94
5.10.12 Mini58 IP60 Transducer Drawing...................................................................................... 95
5.11 Mini85 Specifications (Includes IP60 Versions)........................................................................ 97
5.11.5 CTL Counts Value............................................................................................................. 99
5.11.6 Tool Transform Factor....................................................................................................... 99
5.11.7 Mini85 (US Calibration Complex Loading)(Includes IP60).............................................. 100
5.11.8 Mini85 (SI Calibration Complex Loading)(Includes IP60)................................................ 101
5.11.9 Mini85‑E Transducer Drawing......................................................................................... 102
5.11.10 Mini85 IP60 Transducer with 20 mm Through‑Hole Drawing.......................................... 103
5.12 Gamma Specifications (Includes IP60/IP65/IP68 Versions).................................................... 104
5.12.1 Gamma Physical Properties............................................................................................ 104
5.12.2 Gamma IP60 Physical Properties................................................................................... 104
5.12.5 Calibration Specifications (excludes CTL calibrations) ................................................... 106
5.12.6 CTL Calibration Specifications........................................................................................ 107
5.12.7 CTL Analog Output.......................................................................................................... 107
5.12.8 CTL Counts Value........................................................................................................... 108
5.12.9 Tool Transform Factor..................................................................................................... 108
5.12.10 Gamma (US Calibration Complex Loading)
(Includes IP60/IP65/IP68)1 ....................................................................................... 109
5.12.11 Gamma (SI Calibration Complex Loading)
(Includes IP60/IP65/IP68)1 ....................................................................................... 110
5.12.12 Gamma DAQ/Net Transducer Drawing............................................................................111
7
5.12.13 9105‑T‑Gamma Transducer without Mounting Adapter Drawing.................................... 112
5.12.14 Gamma Mounting Adapter Plate Drawing....................................................................... 113
5.12.15 Gamma IP60 Transducer Drawing.................................................................................. 114
5.12.17 ECAT Gamma IP65 Transducer Drawing........................................................................ 116
5.13 Delta Specifications (Includes IP60/IP65/IP68 Versions)........................................................ 119
5.13.1 Delta Physical Properties................................................................................................ 119
5.13.2 Delta IP60 Physical Properties........................................................................................ 119
5.13.8 CTL Counts Value........................................................................................................... 122
5.13.9 Delta (US Calibration Complex Loading)(Includes IP60/IP65/IP68)1 ............................. 123
5.13.10 Delta (SI Calibration Complex Loading)(Includes IP60/IP65/IP68)1 ............................... 124
5.13.11 Delta DAQ/Net Transducer Drawing............................................................................... 125
5.13.12 9105‑T‑Delta Transducer without Mounting Adapter Drawing......................................... 126
5.13.13 Delta Mounting Adapter Drawing..................................................................................... 127
5.13.14 Delta IP60 Transducer Drawing...................................................................................... 128
5.13.15 ECAT Delta IP60 Transducer Drawing............................................................................ 129
5.13.17 ECAT Delta IP65 Transducer Drawing............................................................................ 132
5.14 Theta Specifications (Includes IP60/IP65/IP68 Versions)....................................................... 135
5.14.1 Theta Physical Properties............................................................................................... 135
5.14.2 Theta IP60 Physical Properties....................................................................................... 135
5.14.3 Theta IP65/IP68 Physical Properties............................................................................... 136
5.14.7 CTL Counts Value........................................................................................................... 138
5.14.9 Theta (US Calibration Complex Loading)(Includes IP60/IP65/IP68)1 ............................ 139
5.14.10 Theta (SI Calibration Complex Loading)(Includes IP60/IP65/IP68)1 .............................. 140
5.14.11 Theta DAQ/Net Transducer Drawing............................................................................... 141
5.14.12 9105‑T‑Theta Transducer without Mounting Adapter Drawing........................................ 142
5.14.13 Theta Mounting Adapter Plate Drawing........................................................................... 143
8
5.14.14 Theta IP60 Transducer Drawing...................................................................................... 144
5.15 Omega85 Specifications (Includes IP60/IP65/IP68 Versions)................................................. 147
5.15.1 Omega85 Physical Properties......................................................................................... 147
5.15.2 Omega85 IP65/IP68 Physical Properties........................................................................ 147
5.15.4 Omega85 (US Calibration Complex Loading)(Includes IP65/IP68)1 .............................. 149
5.15.5 Omega85 (SI Calibration Complex Loading)(Includes IP65/IP68)1 ................................ 150
5.15.6 Omega85 Transducer Drawing....................................................................................... 151
5.15.7 Omega85 IP65 Transducer Drawing............................................................................... 152
5.15.8 Omega85 IP68 Transducer Drawing............................................................................... 153
5.16 Omega160 Specifications (Includes IP60/IP65/IP68 Versions)............................................... 154
5.16.1 Omega160 Physical Properties....................................................................................... 154
5.16.2 Omega160 IP160 Physical Properties (Includes ECAT)................................................. 154
5.16.3 Omega160 IP65/IP68 Physical Properties...................................................................... 155
5.16.7 CTL Counts Value........................................................................................................... 157
5.16.9 Omega160 (US Calibration Complex Loading)
(Includes IP60/IP65/IP68)1 ............................................................................................. 158
5.16.10 Omega160 (SI Calibration Complex Loading)
(Includes IP60/IP65/IP68)1 ....................................................................................... 159
5.16.11 Omega160 Transducer without Mounting Adapter Drawing............................................ 160
5.16.12 Omega160 Transducer with 53 mm Through Hole......................................................... 161
5.16.13 Omega160 Transducer with Mounting Adapter Drawing................................................. 162
5.16.14 Omega160 IP60 Transducer Drawing............................................................................. 163
5.16.15 ECAT Omega160 IP60 Transducer Drawing................................................................... 164
5.17.2 Omega190 IP60 Physical Properties.............................................................................. 168
9
5.17.7 CTL Counts Value........................................................................................................... 171
(Includes IP60/IP65/IP68)1 ............................................................................................. 172
(Includes IP60/IP65/IP68)1 ............................................................................................. 173
5.17.10 Omega190 DAQ/Net Transducer Drawing...................................................................... 174
5.18.2 Omega191 IP60 Physical Properties.............................................................................. 178
5.18.7 CTL Counts Value........................................................................................................... 181
(Includes IP60/IP65/IP68)1 ............................................................................................. 182
(Includes IP60/IP65/IP68)1 ............................................................................................. 183
5.18.10 Omega191 DAQ/Net Transducer Drawing...................................................................... 184
5.19 Omega250 Specifications (Includes IP60/IP65/IP68)............................................................... 188
5.19.1 Omega250 Physical Properties (Includes IP60/IP65/IP68)............................................. 188
5.19.5 CTL Counts Value........................................................................................................... 190
(Includes IP60/IP65/IP68)1 ............................................................................................. 191
(Includes IP60/IP65/IP68)1 ............................................................................................. 192
5.20 Omega331 Specifications (Includes IP65)............................................................................... 196
5.20.1 Omega331 Physical Properties (Includes IP65).............................................................. 196
10
5.20.5 CTL Counts Value........................................................................................................... 198
5.20.6 Omega331 (US Calibration Complex Loading) (Includes IP65)...................................... 199
5.20.7 Omega331 (SI Calibration Complex Loading) (Includes IP65)....................................... 200
5.20.8 Omega331 Transducer Drawing..................................................................................... 201
6. Advanced Topics................................................................................................................... 203
6.1 Reducing Noise.......................................................................................................................... 203
6.1.1 Mechanical Vibration....................................................................................................... 203
6.1.2 Electrical Interference...................................................................................................... 203
6.2 Detecting Failures (Diagnostics).............................................................................................. 203
6.2.1 Detecting Sensitivity Changes......................................................................................... 203
6.3 Scheduled Maintenance............................................................................................................ 203
6.3.1 Periodic Inspection.......................................................................................................... 203
6.3.2 Periodic Calibration......................................................................................................... 204
6.4 Transducer Cabling.................................................................................................................... 204
6.4.1 Calibrations..................................................................................................................... 204
6.4.2 Cabling and Connectors.................................................................................................. 204
6.5 Resolution................................................................................................................................... 204
7. Terms and Conditions of Sale.............................................................................................. 205
11
Glossary
Term Definition
Accuracy See Measurement Uncertainty.
ActiveX Component A reusable software component for the Windows applications.
A statement that says the equipment measures correctly. These statements
Calibration Certificate usually mean the equipment has been tested against national standards. The
statements are produced as a result of calibration or re‑calibration.
The act of measuring a transducer’s raw response to loads and creating data
Calibration
used in converting the response to forces and torques.
Compound Loading Any load that is not purely in one axis.
Coordinate Frame See Point of Origin
An F/T Sensor System that uses industry standard data acquisition fasteners
DAQ F/T
(usually computer cards) to convert the transducer signals into digital data.
DAQ Data Acquisition device.
DoF Degrees of Freedom. See Six Degrees of Freedom.
F/T Controller The electronics that connect to mux transducers.
F/T Force and Torque.
Force The push or pull exerted on an object.
FS Full‑Scale
A measurement of sensing error. For example, if the calibrated measurement
range of a sensor is 100 Newtons and the sensor is accurate to within 1
Full‑Scale Error
Newton, that sensor will have a Full‑Scale Error of 1%
(1% = 0.01 = 1 N / 100 N).
Fxy The resultant force vector comprised of components Fx and Fy.
Fasteners Temperature Compensation. This is a method of improving
the temperature performance of transducers. Usually this refers to span
HTC
temperature compensation. Sometimes it also includes offset temperature
compensation. HTC is better than STC.
A source of measurement error caused by the residual effects of previously
Hysteresis
applied loads.
IP60 Ingress Protection Rating “60” designates protection against dust
IP65 Ingress Protection Rating “65” designates protection against water spray
Ingress Protection Rating “68” designates submergibility in fresh water, in this
IP68
case, to a depth of 10 meters
A graphical programming environment created for data acquisition tasks by
LabVIEW
National Instruments.
Mounting Adapter Plate. The transducer’s MAP attaches to the fixed surface
MAP
or robot arm.
The largest amount of load in a single axis (all other axes are unloaded) that
Max. Single‑Axis Overload
the transducer can withstand without damage.
The maximum expected error in measurements, as specified on the
Measurement Uncertainty
calibration certificate.
Moment When something receives a torque, we say a moment is applied to it.
A box that holds mux electronics for transducers that are too small for
Mux Box
on‑board electronics.
12
Term Definition
Short for multiplexer. F/T Controller Sensor Systems use mux electronics to
Mux
interface to the transducer signals.
An F/T Sensor System that connects to the customer’s monitoring equipment
Net F/T
via Ethernet or CAN bus or DeviceNet.
National Instruments Corporation, the owner of the National Instruments and
NI LabVIEW trademarks (www.ni.com) Maker of Data Acquisition Cards used by
ATI in force sensors.
Offset Compensation Correction of errors that change the zero point of a transducer’s readings.
The condition where more load is applied to the transducer than it can
Overload
measure. This will result in saturation.
Point of Origin The point on the transducer from which all forces and torques are measured.
The way the continuously variable transducer signal is converted into discreet
Quantization digital values. Usually used when describing the change from one digital value
to the next.
The periodic verification of measurement equipment, like transducers, calipers
Re‑calibration and voltmeters, to prove it still measures correctly. The equipment may be
adjusted if it doesn’t measure correctly.
Torque applied that does not result in movement. Think of the twisting you
Reaction Torque attempt to put on a screw or bolt when it does not move. Our transducers
sense reaction torque.
The smallest change in load that can be measured. This is usually much
Resolution
smaller than accuracy.
Torque resulting in something moving. Generally this refers to the torque on
Rotary Torque
things like drive shafts. Our transducers cannot sense rotational torque.
The condition where the transducer or data acquisition fasteners has a load or
Saturation
signal outside of its sensing range.
The entire assembly consisting of parts from transducer to data
Sensor System
acquisition card.
Six Degrees of Freedom Fx, Fy, Fz, Tx, Ty and Tz.
A device that measures the outputting forces and torques from all three
Six‑axis Force/Torque Cartesian coordinates (x, y and z). A six‑axis force/torque transducer is also
Sensor known as a multi‑axis force/torque transducer, multi‑axis load cell, F/T sensor,
or six‑axis load cell.
Span Compensation Correction of errors that affect the sensitivity of a transducer.
Software Temperature Compensation. A method of improving temperature
STC
performance of transducers. This method is not as good as HTC.
Tool Adapter Plate. The TAP part of the transducer is attached to the load that
TAP
is to be measured.
Mathematically changing the measurement coordinate system by translating
Tool Transformation
the origin and/or rotating the axes.
Torque The measurement of force exerted on an object causing it to rotate.
Transducer The component that converts the sensed load into electrical signals.
Txy The resultant torque vector comprised of components Tx and Ty.
A Microsoft programming environment for developing Windows‑based
Visual Basic
applications.
13
1. Safety
The safety section describes general safety guidelines to be followed with this product, explanation of the
notification found in this manual, and safety precaution that apply to the product. More specific notification are
imbedded within the sections of the manual where they apply.
1.1 Explanation of Notifications

The notifications included here are specific to the product(s) covered by this manual. It is expected that the
user heed all notifications from the robot manufacturer and/or the manufacturers of other components used
in the installation.
DANGER: Notification of information or instructions that if not followed will result in

death or serious injury. The notification provides information about the nature of the
hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.
WARNING: Notification of information or instructions that if not followed could result

in death or serious injury. The notification provides information about the nature of the
hazardous situation, the consequences of not avoiding the hazard, and the method for
avoiding the situation.
CAUTION: Notification of information or instructions that if not followed could result

in moderate injury or will cause damage to equipment. The notification provides
information about the nature of the hazardous situation, the consequences of not
avoiding the hazard, and the method for avoiding the situation.
NOTICE: Notification of specific information or instructions about maintaining, operating,

installation, or setup of the product that if not followed could result in damage to equipment. The
notification can emphasize but is not limited to specific grease types, good operating practices,
or maintenance tips.
1.2 General Safety Guidelines

The customer should verify that the transducer selected is rated for maximum loads and moments expected
during operation. Refer to transducer specifications in Section 5—Transducer Specifications of this
manual or contact ATI for assistance. Particular attention should be paid to dynamic loads caused by robot
acceleration and deceleration. These forces can be many times the value of static forces in high acceleration
or deceleration situations.
1.3 Safety Precautions

CAUTION: Do not remove any fasteners or disassemble transducers without a
removable mounting adapter plate. These include Nano, Mini, IP‑rated, and some
Omega transducers. This will cause irreparable damage to the transducer and void the
warranty. Leave all fasteners in place and do not disassemble the transducer.
CAUTION: Do not probe any openings in the transducer. This will damage the
instrumentation.
CAUTION: Do not exert excessive force on the transducer. The transducer is a

sensitive instrument and can be damaged by applying force exceeding the single‑axis
overload values of the transducer and cause irreparable damage. Small Nano and Mini
transducers can easily be overloaded during installation. Refer to the F/T Transducer
manual (9620‑05‑Transducer Section) for specific transducer overload values.
14
2. Product Overview
A transducer is a device that measures the outputting forces and torques from all three Cartesian coordinates (x, y,
and z). A six‑axis force/torque transducer is also known as a multi‑axis force/torque transducer, multi‑axis load cell,
F/T sensor, or six‑axis load cell.
The ATI Multi‑Axis Force/Torque Sensor system measures all six components of force and torque. The system
consists of a transducer, shielded high‑flex cable, and intelligent data acquisition system (Ethernet/DeviceNet
interface or F/T controller). Force/Torque sensors are used throughout industry for product testing, robotic
assembly, grinding, and polishing. In research, our sensors are used in robotic surgery, haptics, rehabilitation,
neurology, and many others applications.
15
3. Installing the Transducer

This section will provide information on the environment, transducer IP rating, mounting the transducer, and
routing the transducer cable.
3.1 Transducer Environment

To ensure proper operation, the IP rating of the transducer must match or exceed the transducer’s
environment. Unless otherwise specified, a transducer has no special IP protection. In this case, the
transducer may be used only in benign environments with no dust, debris, liquids, or sprays. Refer to
Section 4.1—Accuracy over Temperature for information on the transducer’s temperature performance.
CAUTION: Damage to the outer jacketing of the transducer cable could enable
moisture or water to enter an otherwise sealed transducer. Ensure the cable jacketing
is in good condition to prevent transducer damage.
NOTICE: Transducers may react to exceptionally strong and changing electromagnetic fields,
such as those produced by magnetic resonance imaging (MRI) machines.
NOTICE: Transducers without an IP protection may exhibit a small offset in readings when
exposed to strong light.
3.2 Mounting the Transducer

There are two different mounting methods for transducers. The first method has a fixed bolt pattern on the
tool side of the transducer and a removable adapter plate on the mounting (robot or other device) side. The
adapter plate needs to be removed from the transducer and machined with the mounting bolt pattern to
match the robot or other device. If your device covers the mounting fasteners used to connect the transducer,
you will not be able to use the removable adapter plate alone. If this is the case a user designed interface
plate will be needed between the transducer and the robot or other device. Refer to Section 3.2.1—Interface
Plate Design for more details. Refer to Section 3.2.2—Mounting the Transducer with a Removable
Mounting Adapter Plate.
The second method is for transducers with non‑removable adapter plates with fixed bolt patterns on both
the tool and mounting sides of the transducer (Nano, Mini, IP‑rated and some Omega transducers). This
type may require a user designed interface plate to attach the transducer to the robot or other device. Refer
to Section 3.2.1—Interface Plate Design for more details. Refer to Section 3.2.3—Mounting the Transducer
with a Non‑removable Adapter Plate.
CAUTION: Do not remove any fasteners or disassemble transducers without a

removable adapter plate, these include Nano, Mini, IP‑rated, and some Omega
transducers. This will cause irreparable damage to the transducer and void the
warranty. Leave all fasteners in place and do not disassemble the transducer.
Refer to the product drawings in Section 5—Transducer Specifications to determine if the adapter plate is
removable for our transducer. Mount the transducer to a structure with sufficient mechanical strength. Not
doing so can lead to sub‑optimum performance.
3.2.1 Interface Plate Design

Interface plates may be required between the robot or other device and the transducer and between
the transducer and the tooling. If the robot, other device, or tooling covers the mounting fasteners
for the transducer an interface plate will be required. Custom interface plates are available from
ATI upon request.
There are two types of mounting adapter plate (robot side). Small transducers such as Nano, Mini,
IP‑rated and some Omega transducers the mounting adapter plate is factory installed and should
not be removed or machined. The mounting interface plate will have to be machined with the
corresponding bolt pattern and dowel locations, refer to the drawings in Section 5—Transducer
Specifications.
16
Larger transducers have a removable mounting adapter plates, refer to Section 3.2.2—Mounting
the Transducer with a Removable Mounting Adapter Plate for more information. Machine
the mounting interface plate to match the bolt pattern and dowel hole in the removable
mounting adapter plate.
The transducer tooling adapter plate is factory installed and the bolt circle is shown with the
transducer in Section 5—Transducer Specifications. Most large F/T tool adapters follow the ISO
9409‑1 mounting pattern. Machine the tooling interface plate to attach to this bolt circle.
NOTICE: The tool may not contact any other part of the transducer except the tool
mounting surface. If the tool contacts any other part of the transducer it will not properly
sense loads. Make sure the tool mounts to the tool mounting surface and does not
contact any other part of the transducer.
If the customer chooses to design and build an mounting or tooling interface plate, the following
should be considered:
• The interface plate should be designed to include bolt holes for mounting, dowel pins,
and a boss for accurate positioning on the robot or other devices and to the adapter plate.
These locating features should orient the X and Y axis of the Transducer to the X and Y
axis of the robot.
• The thickness of the interface plate must be great enough to provide the necessary thread
engagement for the mounting fasteners.
• Mounting fasteners must not be too long. They should not extend through the adapter plate to
avoid interference with the electronics inside the transducer. Refer to Section 5—Transducer
Specifications for thread depth, mounting patterns, and other details.
• The interface plate must be properly designed to provide rigid mounting for the transducer.
The interface plate should not distort under maximum sensor range of the transducer. Refer to
Section 5—Transducer Specifications for specifications.
• The interface plate design must provide a flat and parallel mounting surface for the transducer.
Refer to Figure 2.1.
17
Figure 3.1—Interface Plate Design Specification
Robot or Other Device
Locating Boss
.002
Customer Designed
Mounting Interface Plate
A
.002 A Customer Supplied Fasteners
Do not extend through
Mounting Adapter Plate
Locating Dowel Pin
Transducer Mounting
Adapter Plate Transducer
Transducer Tooling
Adapter Plate
Locating Boss
.002 A Customer Supplied Fasteners
Do not extend through
Tooling Adapter Plate
Customer Designed
.002 Tooling Interface Plate
Locating Locating Boss

A Dowel Pin
Tooling *Units are inches
18
3.2.2 Mounting the Transducer with a Removable Mounting Adapter Plate

Check to see if when mounting the transducer to the robot or other device you will have access
to the mounting screws for attaching the transducer. If not, a user designed interface plate will be
needed on one or both sides of the transducer, refer to Section 3.2.1—Interface Plate Design for
details in designing an interface plate before continuing with this procedure.
1. Remove the power to the transducer.
2. Remove all mounting fasteners from the mounting adapter plate and set aside.
CAUTION: Do not touch internal electronics or instrumentation. This could
damage the transducer and void the warranty. When the adapter plate is
removed protect the exposed electronics from dust, debris, liquids, and other
foreign objects.
3. Remove the adapter plate from the transducer. Machine the mounting bolt pattern from
the robot, interface plate, or other device into the removable adapter plate. Make sure the
bolt pattern and dowel hole orient the X and Y axis of the transducer with the X and Y
axis of the robot.
NOTICE: Customers machining their own interface patterns should avoid concentrating
all mounting features in the center of the adapter plate. A larger bolt circle will provide
the most accurate readings as it will induce less bending in the plate.
CAUTION: Mounting fasteners should not extend into the transducer beyond
the adapter plate surface. This could cause damage to the internal electronics.
When machining the removable adapter plate, make sure the heads of the
fasteners are flush or below the surface of the adapter plate.
Figure 3.2—Removable Adapter Plate
Machine mounting bolt pattern concentric to mounting

Remove adapter adapter plate to maintain transducer's point-of-origin.
plate fasteners
CAUTION: Do not touch

internal electronics or
instrumentation. This could Remove Mounting Adapter
damage the transducer and Plate from Transducer
void the warranty.
Protect exposed electronics

from dust, debris and liquids
User supplied mounting screws must be
flush or below the surface of the mounting
adapter plate to ensure proper clearance
for the electronics inside the transducer.
Machine mounting bolt pattern and locating

dowel hole into mounting adapter plate. Orient
the bolt pattern and dowel hole to align the X
and Y axis of the transducer with the X and Y
axis of the robot, tooling, or application
orientation as desired.
4. Mount removable adapter plate to the robot, other device, or interface plate using customer
supplied fasteners. If fasteners do not have pre‑applied adhesive, apply Loctite 222®
to the fasteners.
NOTICE: Make sure the adapter plate orients the transducer so that the connector is at
the appropriate location to route the cabling properly. Refer to Section 3.3—Routing the
Transducer Cable.
5. Attach the transducer to the removable adapter plate, hand tighten fasteners.
19
6. Connect power to the transducer and wait until demo application displays load data when
applying force on the transducer.
CAUTION: Do not exceed the transducer’s overload ratings. Smaller
transducers can easily be irreparably damaged by applying small loads using
tools (moment arm increases applied loads) when mounting the transducer.
Always monitor the transducer using the demo application for gage saturation
errors during installation. Stop applying force to the transducer and wait until
the error clears to continue installation. If error does not clear, it may indicate
loss of power or the overload value has been exceeded.
7. Monitor the demo application for gage saturation errors during installation. If an error is
displayed stop applying the force to the transducer and wait until the error clears before
continuing installation.
8. Tighten the fasteners mounting the transducer to the removable adapter plate.
Figure 3.3—Installing Transducers with Removable Mounting Adapter Plates
Computer Running Demo Application
Robot or other Device

Mounting Fasteners
(Supplied by customer)
Mounting Fasteners
Adapter Plate Fasteners (supplied by customer)
Removable Adapter Plate If Required Custom
Transducer with removable adapter plate Mounting Interface Plate
(supplied by customer)
Mounting Fasteners
If Required Custom
Mounting Fasteners Tooling Interface Plate
(supplied by customer) (supplied by customer)
Customer Tooling
CAUTION: Do not use fasteners that will exceed the customer interface
depth specified for the transducer. Using longer fasteners will penetrate the
body of the transducer and damage the electronics, voiding the warranty.
Use fasteners that provide the customer interface depth specified for the
transducer. Refer to the transducer drawing.
NOTICE: The tool may not contact any other part of the transducer except the tool
mounting surface. If the tool contacts any other part of the transducer it will not properly
sense loads. Make sure the tool mounts to the tool mounting surface and does not
contact any other part of the transducer.
10. Attach the customer tooling or tooling interface plate to the transducer with customer supplied
fasteners, the transducer provides a mounting pattern on the tool side of the transducer. If
fasteners do not have pre‑applied adhesive, apply Loctite 222 to the fasteners.
20
3.2.3 Mounting the Transducer with a Non‑removable Adapter Plate

CAUTION: Do not attempt to drill, tap, machine, or otherwise modify or
disassemble the transducer. This could damage the transducer and will void
the warranty. Use the mounting bolt pattern provided to attach the transducer
to the robot or other device and to mount the tool to the transducer. See the
transducer drawings for details.
CAUTION: Do not use fasteners that will exceed the customer interface
depth specified on for the transducer. Using longer fasteners will penetrate
the body of the transducer and damage the electronics, voiding the warranty.
Use fasteners that provide the customer interface depth specified for the
transducer. Refer to the transducer drawing.
CAUTION: Do not exceed the single‑axis overload value of the transducer.

Smaller transducers can easily be irreparably damaged by applying small
loads using tools (moment arm increases applied loads) when mounting the
transducer. Always monitor the transducer using the demo application for gage
saturation errors during installation. Stop applying force to the transducer and
wait until the error clears to continue installation. If error does not clear, it may
indicate loss of power or the overload value has been exceeded.
2. Mount transducer to user‑designed interface plate, directly to the robot, or other device with
customer supplied fasteners. If fasteners do not have pre‑applied adhesive, apply Loctite 222 to
the fasteners.
Figure 3.4—Installing Transducers with Non‑removable Adapter Plates (Net F/T System Shown)
Computer Running Demo Application
Robot or other Device

Mounting Fasteners
(Supplied by customer) Mounting Fasteners
Transducer
If Required Custom
Mounting Interface Plate
Mounting Fasteners If Required Custom
(supplied by customer) Tooling Interface Plate
Customer Tooling
NOTICE: The tool may not touch any other part of the transducer except the tool
mounting surface. If the tool touches any other part of the transducer it will not properly
sense loads. Make sure the tool mounts to the tool mounting surface and does not touch
any other part of the transducer.
4. Attach the customer tooling or tooling interface plate to the transducer with customer supplied
fasteners, the transducer provides a mounting pattern on the tool side of the transducer. If
fasteners do not have pre‑applied adhesive, apply Loctite 222 to the fasteners.
21
3.3 Routing the Transducer Cable

The transducer can be used in a variety of applications that will affect how best to route the cable and
determine the proper bending radius to use. Some applications will allow the transducer and the cable to
remain in a static condition. Some applications require the transducer to be in a dynamic condition that
requires the cable to be subjected to repetitive motion. It is important not to expose the transducer cable
connectors to this repetitive motion, and properly restrain the cable close to the transducer connection
Figure 3.5—Restrain Transducer Cable Close to Cable Connector
Robot (Motion)
Interface Plate
Allow Enough Slack in Cable
for Full Range of Motion of
the Robot or Other Device
Transducer
Restrain Cable to keep Repetitive
Motion From Affecting the Cable Connector
Cable Connector
CAUTION: Do not subject the transducer cable connector to the repetitive

motion of the robot or other device. Subjecting the connector to the repetitive
motion will cause damage to the connector. Restrain the cable close to
the connector to keep the repetitive motion of the robot from affecting the
cable connector.
CAUTION: When routing cables do not bend the cable to a smaller radius
than the minimum bending radius specified in Table 2.1. The cable will fail due
to fatigue from the repetitive motion. When routing the cable make sure the
cable bends are larger then the minimum dynamic bending radius specified for
the cable type.
CAUTION: Do not stress or over bend the transducer cable, especially where
it is attached to the transducer. This is particularly important on the Nano and
Mini series of transducers. For these transducers, do not bend the cable any
closer than 25 mm (1 inch) to the transducer. Sharp bends must be avoided as
they can damage the cable and transducer and will void the warranty.
22
Figure 3.6—Transducer Bending Radius
For Nano and Mini series Transducers To protect cable
Refer to Table 3.1 for connection from repetitive
minimum static bending radius Do not bend the cable any closer than
25mm (1 inch) to the transducer motion, restrain cable
(at room temperature) at transducer end
(1 inch) 25
To protect connector from

repetitive motion, restrain
cable at connector end
Refer to Table 3.1 for Refer to Table 3.1 for minimum static
minimum dynamic (cycled) bending bending radius (at room temperature)
radius (at room temperature)
Refer to Table 3.1 for minimum dynamic (cycled)
bending radius (at room temperature)
Table 3.1—Transducer Cable Bending Radius

Static Bending Radius Dynamic Bending Radius
Cable Dia. (at room temperature) (at room temperature)
Cable Type
(mm)
mm inch mm inch
9105‑TW 3.2 16 0.63 32 1.26
9105‑C3 4.4 22 0.87 44 1.73
9105‑CM 4.4 22 0.87 44 1.73
9105‑CW 4.4 22 0.87 44 1.73
9105‑CT 6.1 30.5 1.20 61 2.40
3.2 16 0.63 32 1.26
4.4 22 0.87 44 1.73
9105‑C
6.1 30.5 1.20 61 2.40
10.0 50 1.97 100 3.94
9105‑C‑MTR 8.4 42 1.65 84 3.31
9105‑C‑MTS 8.4 42 1.65 84 3.31
9105‑CF‑MTR
8.5 42.5 1.67 85 3.35
9105‑CF‑MTS
Note: Temperature will affect cable flexibility. ATI recommends increasing the minimum dynamic bending radius for
lower temperatures.
The transducer cable must be routed so that it is not stressed, pulled, kinked, cut, or otherwise damaged
throughout the full range of motion. See the accompanying system manual for the transducer cable
interfacing. If the desired application results in the cable rubbing, then use a loose plastic spiral wrap
for protection.
CAUTION: Be careful not to crush the cable by over tightening tie wraps or walking on
the cable, since this may damage the cable.
CAUTION: Cables on the Nano and Mini transducers are permanently attached to
the transducer and cannot be disconnected. Do not attempt to disassemble these
transducers, this will damage the transducer and void the warranty. Do not attempt to
replace the cable. Contact ATI service for assistance.
CAUTION: Nano and Mini integral cables and cables of the 9105‑C‑H type must not
subject the transducer end connection to more than 10 lbf (45 N) of side‑to‑side or pull
force or permanent damage will result.
CAUTION: Larger transducers have removable cables. Do not attempt to disconnect

these transducer cables by pulling on the cable itself or the connector boot; this can
damage your system.
23
4. Topics
4.1 Accuracy over Temperature
Typical gain errors introduced over temperature for F/T transducers with fasteners temperature
compensation are listed below. These changes in sensitivity are independent of the transducer’s rated
accuracy at room temperature; the two accuracy ratings must be added to find an overall estimated accuracy
at a certain temperature. This overall accuracy assumes that the unloaded and loaded measurements were
taken at the same temperature. Drift error over temperature is not compensated and varies with each
transducer. For best results, a reference reading should be taken or bias function executed at the current
temperature before applying the load of interest.
Table 4.1—Error Introduced Over Temperature for Non‑Gamma Transducers
Deviation from 22°C Typical Gain Error
± 5°C 0.1%
± 15°C 0.5%
± 25°C1 1%
± 50°C1 5%
Note:
1. Deviation is bounded by transducer operational limits in Section 4.3—Environmental.
Table 4.2—Error Introduced Over Temperature for Gamma Transducers

Deviation from 22°C Typical Gain Error
± 5°C 0.1%
± 15°C 0.5%
1
± 25°C 1.5%
1
± 50°C 7%
Note:
1. Deviation is bounded by transducer operational limits in Section 4.3—Environmental
4.2 Tool Transformation Effects

All transducer working specifications pertain to the factory point‑of‑origin only. This includes the
transducer’s range, resolution, and accuracy. The transducer working specifications at a customer‑applied
point‑of‑origin will differ from those at the factory point‑of‑origin.
24
4.3 Environmental
The F/T system is designed to be used in standard laboratory or light‑manufacturing conditions. Transducers
with an IP60 designation are able to withstand dusty environments, those with an IP65 designation are able
to withstand dusty environments and wash down, and those with an IP68 designation are able to withstand
dusty environments and fresh‑water immersion to a specified depth. Transducers without IP65 or IP68
designation may be used in environments with up to 95% relative humidity, non‑condensing.
Table 4.3—Transducer Temperature Ranges ‑ Non‑IP‑Rated
Transducer Model Series Storage Operation Units
9105‑TIF Transducer ‑25 to +85 ‑25 to +85 °C
9105‑TW Transducer ‑40 to +100 ‑40 to +100 °C
9105‑TW‑…‑H Transducer ‑25 to +85 ‑25 to +85 °C
9105‑T Transducer ‑20 to +80 0 to +70 °C
9105‑NET Transducer ‑40 to +85 ‑40 to +85 °C
Note: These temperature ranges specify the storage and operation ranges in which the transducer can survive
without damage. They do not take accuracy into account.
Table 4.4—Transducer Temperature Ranges ‑ IP60, IP65, and IP68

Transducer Model Series Storage Operation Units
9105‑TIF Transducer ‑5 to +75 0 to +60 °C
9105‑TW Transducer ‑5 to +105 ‑5 to +105 °C
9105‑T Transducer ‑5 to +105 0 to +70 °C
9105‑NET Transducer ‑65 to +105 0 to +70 °C
Note: These temperature ranges specify the storage and operation ranges in which the transducer can survive
without damage. They do not take accuracy into account.
25
4.4 Mux Transducer Input Filter Frequency Response

NOTICE: Mux transducers are only used in 9105‑CTL, 9105‑CON, and 9105‑CTE systems.
The input filter used in 9105‑T transducers and in the Mux box is used to prevent aliasing. This filtering is
not used in 9105‑TIF (DAQ) or our TWE transducers.
Figure 4.1—Mux input filter frequency response (‑3dB @ 235Hz)

3.00
0.00
‑3.00
Gain
in dB
‑6.00
‑9.00
‑12.00
1 10 100 1000
Frequency in H z
4.5 Transducer Strain Gage Saturation

The F/T sensor’s strain gages are optimally placed to share information between the forces and torques
applied to the sensor. Because of this sharing, it is possible to saturate the transducer with a complex load
that has components below the rated load of the sensor. However, this arrangement allows a greater sensing
range and resolution.
CAUTION: When any strain gage is saturated or otherwise inoperable, all transducer
F/T readings are invalid. It is vitally important to monitor for these conditions.
26
5. Transducer Specifications
5.1 Notes
5.1.1 About CTL Calibration Specifications
CTL refers to F/T systems that use the F/T Controller. Transducers used in these systems either
have a 9105‑T‑x model transducer or include a Mux Box. The output resolution of CTL systems
is different from other systems. CTL systems also provide analog voltage outputs that represent
each of the six axes. CTL transducers have their own calibration specification listings because of
these differences.
5.1.2 Complex Loading Graph Description

The graphs in the sections for each transducer may be used to estimate a sensor’s range under
complex loading. Each page represents one sensor body with either English or Metric units. The
top graph represents combinations of forces in the X and/or Y directions with torques about the
Z‑axis. The bottom graph represents combinations of Z‑axis forces with X‑ and/or Y‑axis torques.
The graphs contain several different calibrations, distinguished by line weight.
The sample graph shown in Figure 4.1 shows how operating ranges can change with complex
loading. The labels indicate the following regions:
A. Normal operating region. You can expect to achieve rated accuracy in this region.
B. Saturation region. Any load in this region will report a gage saturation condition.
C. Extended operating region. In this region, the sensor will operate correctly but the
full‑scale accuracy is not guaranteed.
Figure 5.1—Complex Loading Sample Graph
C B
Fxy
Tz
27
5.2 Nano17 Titanium

5.2.1 Nano17 Titanium Physical Properties
Table 5.1—Nano17 Titanium Physical Properties
Single‑Axis Overload (US) Standard Units (SI) Metric Units
Fxy ±35 lbf ±160 N
Fz ±70 lbf ±310 N
Txy ±8.9 inf‑lb ±1 Nm
Tz ±10 inf‑lb ±1.2 Nm
Stiffness (Calculated)
X‑axis & Y‑axis forces (Kx, Ky) 2.7x10 4 lb/in 4.8x10 6 N/m
Z‑axis force (Kz) 3.8x10 4 lb/in 6.6x10 6 N/m
X‑axis & Y‑axis torque (Ktx, Kty) 1.2x10 3 lbf‑in/rad 1.4x10 2 Nm/rad
Z‑axis torque (Ktz) 2.0x10 3 lbf‑in/rad 2.2x10 2 Nm/rad
Resonant Frequency
Fx, Fy, Tz 3000 Hz 3000 Hz
Fz, Tx, Ty 3000 Hz 3000 Hz
Physical Specifications
Weight1 0.0223 lb 0.0101 kg
Diameter1 0.669 in 17 mm
1
Height 0.571 in 14.5 mm
Note:
1. Specifications include standard interface plates.
5.2.2 Calibration Specifications (excludes CTL calibrations)

Table 5.2— Nano17 Titanium Calibrations (excludes CTL calibrations)1, 2
(US) Standard Fx,Fy Fz Tx,Ty Tz Fx,Fy Fz Tx,Ty Tz
Sensor
Calibration (lbf) (lbf) (lbf‑in) (lbf‑in) (lbf) (lbf) (lbf‑in) (lbf‑in)
Nano17 Titanium US‑1.8‑0.4 1.8 3.15 0.4 0.4 1/3400 1/2720 7/92800 1/18560
Nano17 Titanium US‑3.6‑0.8 3.6 6.3 0.8 0.8 1/1700 1/1360 7/46400 1/9280
Nano17 Titanium US‑7.2‑1.6 7.2 12.6 1.6 1.6 1/850 1/680 7/23200 1/4640
(SI) Metric Fx,Fy Fz Tx,Ty Tz Fx,Fy Fz Tx,Ty Tz
Sensor
Calibration (N) (N) (Nmm) (Nmm) (N) (N) (Nmm) (Nmm)
Nano17 Titanium SI‑8‑0.05 8 14.1 50 50 1/682 1/682 3/364 5/728
Nano17 Titanium SI‑16‑0.1 16 28.2 100 100 1/341 1/341 3/182 5/364
Nano17 Titanium SI‑32‑0.2 32 56.4 200 200 1/171 1/171 3/92 5/184
Sensing Ranges Resolution (DAQ, Net F/T)3
Notes:
1. These system resolutions quoted are the effective resolution after dropping eight counts of noise. The effective
resolution can be improved with filtering.
2. Applied loads must be within range in each of the six axes for the F/T sensor to measure correctly.
3. DAQ resolutions are typical for a 16‑bit data acquisition system.
28
5.2.3 CTL Calibration Specifications

Table 5.3— Nano17 Titanium CTL Calibrations1, 2
Sensor
Nano17 Titanium US‑1.8‑0.4 1.8 3.15 0.4 0.4 1/1700 1/1360 7/46400 1/9280
Nano17 Titanium US‑3.6‑0.8 3.6 6.3 0.8 0.8 1/850 1/680 7/23200 1/4640
Nano17 Titanium US‑7.2‑1.6 7.2 12.6 1.6 1.6 1/425 1/340 7/11600 1/2320
Sensor
Nano17 Titanium SI‑8‑0.05 8 14.1 50 50 1/341 1/341 3/182 5/364
Nano17 Titanium SI‑16‑0.1 16 28.2 100 100 2/341 2/341 3/91 5/182
Nano17 Titanium SI‑32‑0.2 32 56.4 200 200 2/171 2/171 3/46 5/92
Sensing Ranges Resolution (Controller)
Notes:
1. CTL resolutions are typical. System resolutions quoted are the effective resolution after dropping eight counts of
noise. The effective resolution can be improved with filtering.
5.2.4 CTL Analog Output

Table 5.4— Nano17 Titanium Analog Output
(US) Standard Fx,Fy Fz Tx,Ty,Tz Fx,Fy Fz Tx,Ty,Tz
Sensor
Calibration (lbf) (lbf) (lbf‑in) (lbf/V) (lbf/V) (lbf‑in/V)
Nano17 Titanium US‑1.8‑0.4 ±1.8 ±3.15 ±0.4 0.18 0.315 0.04
Nano17 Titanium US‑3.6‑0.8 ±3.6 ±6.3 ±0.8 0.36 0.63 0.08
Nano17 Titanium US‑7.2‑1.6 ±7.2 ±12.6 ±1.6 0.72 1.26 0.16
(SI) Metric Fx,Fy Fz Tx,Ty,Tz Fx,Fy Fz Tx,Ty,Tz
Sensor
Calibration (N) (N) (Nmm) (N/V) (N/V) (Nmm/V)
Nano17 Titanium SI‑8‑0.05 ±8 ±14.1 ±50 0.8 1.41 5
Nano17 Titanium SI‑16‑0.1 ±16 ±28.2 ±100 1.6 2.82 10
Nano17 Titanium SI‑32‑0.2 ±32 ±56.4 ±200 3.2 5.64 20
Analog Output Range Analog ±10V Sensitivity1
Notes:
1. ±5V Sensitivity values are double the listed ±10V Sensitivity values.
5.2.5 CTL Counts Value

Table 5.5—Counts Value
Fx, Fy, Fz Tx, Ty, Tz Fx, Fy, Fz Tx, Ty, Tz
Sensor Calibration
(/ lbf) (/ lbf‑in) (/ N) (/ Nmm)
Nano17 Titanium US‑1.8–0.4 / SI‑8–0.05 54400 371200 1280 256
Nano17 Titanium Tool Transform Factor 0.0022 in/lbf 0.0375 mm/N
Counts Value – Standard (US) Counts Value – Metric (SI)
29
Manual, F/T Transducer Section Help
Nano17 Titanium
5.2.6 Nano17 Titanium (US Calibration Complex Loading)
US-1.8-0.4 US-3.6-0.8 US-7.2-1.6
30
Document #9620-05-Transducer Section‑26 Help
5.2.7
Nano17 Titanium
Nano17 Titanium (SI Calibration Complex Loading)
SI-8-0.05 SI-16-0.1 SI-32-0.2
31
PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. Rev. Description Initiator Date
NOT TO BE REPRODUCED IN ANY MANNER EXCEPT ON
ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI. 01 Eco 6444: Initial Drawing ALH 7/1/2008
5.411±0.025
6.957±0.025 Mounting Adapter Plate Tool Adapter Plate
1.085±0.025 (2) 2 Slip Fit
14.5 3.0
Sensing Reference (B.C. 12.5)
+X (2) 2 Slip Fit Customer Interface
3.0 Frame Origin +X
120.00° (10°)
(B.C. 12.5) 6.248±0.025
Customer Interface
(3) Tap M2x.4
(120°) 3.5 (See Note 5)

6.153±0.025 9.373±0.025 B.C. 12.5
8.291±0.025 Equally Spaced
-Y +Y +Y -Y Customer Interface
5° -Z +Z 17
(3) Tap M2x.4 Sensing Reference

3.5 (See Note 5) Frame Origin

B.C. 12.5
Nano17Ti-A Cable Exit -X Equally Spaced -X
(Alternate) Customer Interface Nano17Ti-R Cable Exit
(Standard)
Nano17Ti-R Cable Exit
Nano17Ti-R Cable Exit (Standard)
(Standard)
TOOL SIDE
32
MOUNTING SIDE SIDE VIEW
5.2.8 Nano17 Titanium Transducer Drawing
ALTERNATE CABLE EXIT

(Nano17Ti-A Cable Exit) ISOMETRIC VIEW
NOTES: UNLESS OTHERWISE SPECIFIED
DO NOT SCALE DRAWING. DRAWN IN SOLIDWORKS.
1031 Goodworth Drive, Apex, NC 27539, USA
ALL DIMENSIONS ARE IN MILLIMETERS. Tel: +1.919.772.0115 Email: info@ati-ia.com
NOTES: Fax: +1.919.772.8259 www.ati-ia.com
1. Material: Titanium ISO 9001 Registered Company
2. Cable can be factory installed radially or axially.
3. Connector (not shown) has 17mm diameter and is 67.5mm Long. DRAWN BY: TITLE
A. Hoke 6/30/08
4. WARNING -- DO NOT LOOSEN OR REMOVE INTERFACE PLATES Nano17 Titanium Transducer
CHECKED BY:
DUE TO POTENTIAL DAMAGE. P. Fusco 7/3/08
5. DO NOT EXCEED INTERFACE DEPTH, MAY CAUSE DAMAGE. SCALE SIZE DRAWING NUMBER
WEIGHT LBS:
0.025
3:1 B 9230-05-1336-01
3rd ANGLE PROJECTION ASSEMBLY REF:
PRODUCT RELEASE # DATE: SHEET 1 OF 1
5.3 Nano17 Specifications (Includes IP65/IP68 Versions)

5.3.1 Nano17 Physical Properties
Table 5.6—Nano17 Physical Properties
Fxy ±56 lbf ±250 N
Fz ±110 lbf ±480 N
Txy ±14 inf‑lb ±1.6 Nm
Z‑axis force (Kz) 4
6.5x10 lb/in 1.1x10 7 N/m
Resonant Frequency
Fx, Fy, Tz 7200 Hz 7200 Hz
Fz, Tx, Ty 7200 Hz 7200 Hz
Weight1 0.02 lb 0.00907 kg
1
Diameter 0.669 in 17 mm
1
Note:
5.3.2 Nano17 IP65/IP68 Physical Properties

Table 5.7—Nano17 IP65/IP68 Physical Properties
Fxy ±56 lbf ±250 N
Fz ±110 lbf ±480 N
X‑axis & Y‑axis torque (Ktx, Kty) 3
2.1x10 lbf‑in/rad 2.4x10 2 Nm/rad
Resonant Frequency
Fx, Fy, Tz 2200 Hz 2200 Hz
Fz, Tx, Ty 2200 Hz 2200 Hz
Weight1 0.09 lb 0.0408 kg
1
Diameter 0.79 in 20.1 mm
1
Note:
33
CAUTION: When submerged, IP68 transducers exhibit a decrease

in Fz range related to the submersion depth. This loss is the result of
pressure‑induced preloading on the transducer. The preload can be
masked by biasing the transducer at the depth prior to applying the load
to be measured. The following estimates are for room temperature fresh
water at sea level.
Submersion Depth
IP68 Nano17 US Metric
Fz preload at 4 m depth 2.01 lb 8.93 N
Fz preload at other depths ‑0.15 lb/ft × depth In Feet ‑2.23 N/m × depth In Meters

Table 5.8— Nano17 Calibrations (excludes CTL calibrations)1, 2
(US) Standard Fx,Fy Fz3 Tx,Ty Tz Fx,Fy Fz3 Tx,Ty Tz
Sensor
Nano17 US‑3‑1 3 4.25 1 1 1/1280 1/1280 1/8000 1/8000
Nano17 US‑6‑2 6 8.5 2 2 1/640 1/640 1/4000 1/4000
Nano17 US‑12‑4 12 17 4 4 1/320 1/320 1/2000 1/2000
(SI) Metric Fx,Fy Fz 3
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Nano17 SI‑12‑0.12 12 17 120 120 1/320 1/320 1/64 1/64
Nano17 SI‑25‑0.25 25 35 250 250 1/160 1/160 1/32 1/32
Nano17 SI‑50‑0.5 50 70 500 500 1/80 1/80 1/16 1/16
Notes:
3. For IP68 version see caution on physical properties page.
34

Table 5.9— Nano17 CTL Calibrations1, 2
Sensor
Nano17 US‑3‑1 3 4.25 1 1 1/640 1/640 1/4000 1/4000
Nano17 US‑6‑2 6 8.5 2 2 1/320 1/320 1/2000 1/2000
Nano17 US‑12‑4 12 17 4 4 1/160 1/160 1/1000 1/1000
(SI) Metric Fx,Fy Fz3
Tx,Ty Tz Fx,Fy Fz3
Tx,Ty Tz
Sensor
Nano17 SI‑12‑0.12 12 17 120 120 1/160 1/160 1/32 1/32
Nano17 SI‑25‑0.25 25 35 250 250 1/80 1/80 1/16 1/16
Nano17 SI‑50‑0.5 50 70 500 500 1/40 1/40 1/8 1/8
Notes:

Table 5.10— Nano17 Analog Output
(US) Standard Fx,Fy Fz2 Tx,Ty,Tz Fx,Fy Fz2 Tx,Ty,Tz
Sensor
Nano17 US‑3‑1 ±3 ±4.25 ±1 0.3 0.425 0.1
Nano17 US‑6‑2 ±6 ±8.5 ±2 0.6 0.85 0.2
Nano17 US‑12‑4 ±12 ±17 ±4 1.2 1.7 0.4
Tx,Ty,Tz Fx,Fy Fz 2
Tx,Ty,Tz
Sensor
Calibration (N) (N) (Nmm) (N/V) (N/V) (Nmm/V)
Nano17 SI‑12‑0.12 ±12 ±17 ±120 1.2 1.7 12
Nano17 SI‑25‑0.25 ±25 ±35 ±250 2.5 3.5 25
Nano17 SI‑50‑0.5 ±50 ±70 ±500 5 7 50
Notes:

Sensor Calibration
(/ lbf) (/ lbf‑in) (/ N) (/ Nmm)
Nano17 US‑3–1 / SI‑12–0.25 5120 32000 1280 256
Nano17 US‑6–2 / SI‑25–0.25 2560 16000 640 128
Nano17 US‑12–4 / SI‑50–0.5 1280 8000 320 64
Nano17 Tool Transform Factor 0.0016 in/lbf 0.05 mm/N
35
Help
Nano17
5.3.7 Nano17 (US Calibration Complex Loading)(Includes IP65/IP68)1
US-3-1 US-6-2 US-12-4

Note: 1. For IP68 version see caution on physical properties page.
36
Help
Nano17
5.3.8 Nano17 (SI Calibration Complex Loading)(Includes IP65/IP68)1
SI-12-0.12 SI-25-0.25 SI-50-0.5

37
ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI. 01 Initial Drawing PPF 3/8/2007
02 Updated dimensions from strain relief to center of part PPF 5/27/2008
6.957±0.025
Tool Adapter 2.060
(2) .0
1.085±0.025 2.035
5.411±0.025
Sensing Reference Slip Fit 3.0
(2) 2.0 Mounting 14.5 Frame Origin (B.C. 12.5)
Slip Fit 3.0 Adapter
+X 6.248±0.025 +X (3) M2-.40 3.5
(B.C. 12.5) Equally Spaced
B.C. 12.5
Customer Interface
(See Note 5)
6.153±0.025
9.373±0.025
+Y -Z
5° +Z 17 -Y
-Y +Y
(3) M2-.40 3.5

Equally Spaced
8.291±0.025
B.C. 12.5
Customer Interface Sensing Reference
(See Note 5) Frame Origin
-X 48° -X
15.5 5.3 TOOL SIDE
38
5.3.9 Nano17‑E Transducer Drawing
17.6
ISOMETRIC VIEW
Notes:
1. Tool and mounting adapter made of aluminum.
2. Tool and mounting adapter have M2 tapped holes and NOTES: UNLESS OTHERWISE SPECIFIED
2.0mm dowel pin holes for customer interface. 1031 Goodworth Drive, Apex, NC 27539, USA
3. Connector (not shown) has a 17mm diameter and DO NOT SCALE DRAWING. DRAWN IN SOLIDWORKS.
is 67.5mm long. Fax: +1.919.772.8259 www.ati-ia.com
4. WARNING--DO NOT LOOSEN OR REMOVE INTERFACE ISO 9001 Registered Company
PLATES DUE TO POTENTIAL DAMAGE.
5. DO NOT EXCEED INTERFACE DEPTH--MAY CAUSE DAMAGE DRAWN BY: TITLE
P. Fusco 3/8/07
NANO17-E TRANSDUCER
CHECKED BY:
D. Swanson 3/9/07
SCALE SIZE DRAWING NUMBER
WEIGHT LBS:
3:1 B 9230-05-1311-02
Rev. Description Initiator Date
04 ECO 13994; Added Note 8 SZJ 5/23/2016
Mounting Adapter Tool Adapter 2X 2mm Slip Fit 3

8.908±0.025 Plate Plate Customer Interface
1.389±0.025
120° 22.2
10° 19.3
5.411±0.025
20.1
+X +X
Strain Relief 120°
Fitting for Cable
7.879±0.025
6.248±0.025
10.616±0.025 9.373±0.025
-Y +Y -Z +Z
17 +Y -Y
9.1
Min
10.4 Max B.C. 12.5
39
2X 2 Slip Fit 3.8
Customer Interface -X -X
(See Note 5) 35° B.C. 16
3X Tap M2x0.4 2.1

Sensing Reference Equally Spaced
SIDE VIEW Frame Origin TOOL SIDE Customer Interface
3X Tap M2x0.4 4.5 MOUNTING SIDE
Equally Spaced
Customer Interface
(See Note 4)
ISOMETRIC VIEW NOTES: UNLESS OTHERWISE 1031 Goodworth Drive, Apex, NC 27539, USA
NOTES: SPECIFIED.
1. Material: Stainless Steel Tel: +1.919.772.0115 Email: info@ati-ia.com
DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
2. Tool and Mounting Adapters have M2 tapped holes and 2mm dowel pin ALL DIMENSIONS ARE IN ISO 9001 Registered Company
holes for interfacing MILLIMETERS.
3. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE PLATES DUE PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
TO POTENTIAL DAMAGE TITLE
4. No threads present first 1mm of interface DRAWN BY: C. Sturgis 1/11/10
IP65/68 Nano17 Transducer w/ Axial Cable Exit
5.3.10 Nano17 IP65/IP68 Transducer with Axial Cable Exit Drawing
5. No dowel interface first 1mm of interface CHECKED BY: R. Chambers 1/12/10

6. Standard connector (not shown) has 17mm diameter & is 67.5mm long.
7. Cable is IP65/IP68 rated only at transducer end. SCALE SIZE DRAWING NUMBER REVISION
8. Alignment marks are for ATI reference only. 3rd ANGLE PROJECTION PROJECT # SHEET 1 OF 1 3:1 B 9230-05-1364 04
Mounting Adapter 13 Eco 7635; Add -E cable exit CCS 3/15/2010

Plate
6.957±0.025
5.411±0.025
1.085±0.025
Tool Adapter Plate (2) 2 Slip Fit 3.0
(2) 2 Slip Fit 3.0 14.50 (B.C. 12.5)
10° Sensing Reference
(B.C. 12.5) Frame Origin Customer Interface
Customer Interface
+X (See Note 3) +X
6.248±0.025
120°
Nano17-A Cable Exit
6.153±0.025 (Alternate) 120°

9.373±0.025 Sensing Reference
8.291±0.025 Frame Origin
-Y +Y
-Z +Z 17
5° +Y -Y
(3)Tap M2x.40 3.5

B.C. 12.5
(3)Tap M2x.40 3.5 Equally Spaced
30° B.C. 12.5 Customer Interface
-X Equally Spaced -X (See Note 3)
Customer Interface
(See Note 3)
Nano17-R Cable Exit
(Standard) Nano17-R Cable Exit
Nano17-R Cable Exit (Standard)
40
(Standard)
MOUNTING SIDE SIDE VIEW TOOL SIDE
3.8
5.3.11 Legacy Nano17 Transducer Drawing
ALTERNATE CABLE EXIT ALTERNATE CABLE EXIT

NANO17-E NANO17-A NANO17-R ISOMETRIC VIEW
Notes: 1031 Goodworth Drive, Apex, NC 27539, USA
1. Mounting and Tool Adapter made of Aluminum. DO NOT SCALE DRAWING. DRAWN IN SOLIDWORKS. Tel: +1.919.772.0115 Email: info@ati-ia.com
ALL DIMENSIONS ARE IN MILLIMETERS. Fax: +1.919.772.8259 www.ati-ia.com
Transducer made of hardened Stainless Steel.
ISO 9001 Registered Company
2. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE PLATES
PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY MANNER
OR CABLE FITTING DUE TO POTENTIAL DAMAGE. EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
3. DO NOT EXCEED INTERFACE DEPTH, MAY CAUSE DAMAGE. DRAWN BY: B. Digeso TITLE
4. Connector (not shown) has 17mm diameter and is 67.5mm long.
CHECKED BY: Nano17 Transducer
D. Perry
SCALE SIZE DRAWING NUMBER REVISION
WEIGHT LBS:
3:1 B 9230-05-1073 13
PRODUCT RELEASE # - DATE: SHEET 1 OF 1
5.4 Nano25 Specifications (Includes IP65/IP68 Versions)

Fxy ±520 lbf ±2300 N
Fz ±1600 lbf ±7300 N
Txy ±380 inf‑lb ±43 Nm
Tz ±560 inf‑lb ±63 Nm
6.3x10 lb/in 1.1x10 8 N/m
Resonant Frequency
Fx, Fy, Tz 3600 Hz 3600 Hz
Fz, Tx, Ty 3800 Hz 3800 Hz
1
1
Note:
5.4.2 Nano25 IP65/IP68 Physical Properties

Table 5.13—Nano25 IP65/IP68 Physical Properties
Fxy ±520 lbf ±2300 N
Fz ±1600 lbf ±7300 N
Resonant Frequency
Fx, Fy, Tz 3400 Hz 3400 Hz
Fz, Tx, Ty 3500 Hz 3500 Hz
1
1
Note:
41

water at sea level.
Submersion Depth
IP68 Nano17 US Metric
Fz preload at other depths ‑0.33 lb/ft × depthInFeet ‑4.81 N/m × depthInMeters
NOTICE: The outer body of the IP65 and the IP68 versions of the Nano25 are
electrically floating from the rest of the system. If the transducer signal has additional
noise, it may be necessary to electrically connect the transducer body to the case of
the F/T system.

Table 5.14— Nano25 Calibrations (excludes CTL calibrations)1, 2, 4
Sensor
Nano25 US‑25‑25 25 100 25 25 1/224 3/224 1/160 1/320
Nano25 US‑50‑50 50 200 50 30 1/112 3/112 1/80 1/160
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Calibration (N) (N) (Nm) (Nm) (N) (N) (Nm) (Nm)
Nano25 SI‑125‑3 125 500 3 3 1/48 1/16 1/1320 1/2640
Nano25 SI‑250‑6 250 1000 6 3.4 1/24 1/8 1/660 1/1320
Notes:
1. These system resolutions quoted are the effective resolution after dropping four counts of noise. The effective
4. Applying moments beyond ±30 lbf‑in (±3.4Nm) in Tz can cause hysteresis and permanent zero‑point change in the
Nano25 (applies to all versions of the Nano25).
42

Table 5.15— Nano25 CTL Calibrations1, 2, 4
Sensor
Nano25 US‑25‑25 25 100 25 25 1/112 3/112 1/80 1/160
Nano25 US‑50‑50 50 200 50 30 1/56 3/56 1/40 1/80
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Nano25 SI‑125‑3 125 500 3 3 1/24 1/8 1/660 1/1320
Nano25 SI‑250‑6 250 1000 6 3.4 1/12 1/4 1/330 1/660
Notes:
4. Applying moments beyond ±30 lbf‑in (±3.4Nm) in Tz can cause hysteresis and permanent zero‑point change in the
Nano25 (applies to all versions of the Nano25).

Sensor
Nano25 US‑25‑25 ±25 ±100 ±25 2.5 10 2.5
Nano25 US‑50‑50 ±50 ±200 ±50 5 20 5
Tx,Ty,Tz Fx,Fy Fz2
Tx,Ty,Tz
Sensor
Calibration (N) (N) (Nmm) (N/V) (N/V) (Nm/V)
Nano25 SI‑125‑3 ±125 ±500 ±3 12.5 50 0.3
Nano25 SI‑250‑6 ±250 ±1000 ±6 25 100 0.6
Notes:

Fx, Fy, Fz Tx, Ty, Tz
Sensor Calibration Fx, Fy, Fz Tx, Ty, Tz
(/ lbf) (/ lbf‑in)
Nano25 US‑25–25 / SI‑125–3 896 1280 192 / N 10560 / N
Nano25 US‑50–50 / SI‑250–6 448 640 96 / Nm 5280 / Nm
43
Nano25
5.4.7 Nano25 (US Calibration Complex Loading)(Includes IP65/IP68)1
US-25-25 US-50-50
44
Help
Nano25
5.4.8 Nano25 (SI Calibration Complex Loading)(Includes IP65/IP68)1
SI-125-3 SI-250-6
45
02 Eco 10898; correct TAP dowel to 3, update notes LJH 4/11/2013
+X 4.8 +X
Tool Adapter
Sensing Reference
Frame Origin
Sensing Reference
Frame Origin
6.060 Mounting Adapter 3X M3-0.5 3.5

2.1
6.035 Equally Spaced
Customer Interface 5.3 29.6 Customer Interface
(See Note 5)
+Y 10.160±0.025
-Y -Z +Z 25 15.240±0.025
+Y -Y
3X M3-0.5 7.0
Equally Spaced
4.294±0.025 Customer Interface
(See Note 3) 2X 3 Slip Fit 3.3 B.C. 20.32
Customer Interface
46
B.C. 20.32
5.4.9 Nano25‑E Transducer Drawing
3 Slip Fit 7.0 9.208±0.025 21.6

Customer Interface 8.799±0.025
-X -X
NOTES: UNLESS OTHERWISE 1031 Goodworth Drive, Apex, NC 27539, USA

SPECIFIED.
ISOMETRIC VIEW Tel: +1.919.772.0115 Email: info@ati-ia.com
ALL DIMENSIONS ARE IN ISO 9001 Registered Company
Notes: MILLIMETERS.
PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
1. Mounting and Tool Adapter made of Stainless Steel. Transducer MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
made of hardened Stainless Steel. TITLE
DRAWN BY: R. Chambers, 8/29/07
2. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE PLATES OR CABLE Nano25-E Transducer
DUE TO POTENTIAL DAMAGE. CHECKED BY: P. Fusco, 2/22/08
3. DO NOT EXCEED INTERFACE DEPTH. MAY CAUSE DAMAGE.
4. Standard connector (not shown) has a 17mm diameter and is 67.5mm long. SCALE SIZE DRAWING NUMBER REVISION
3rd ANGLE PROJECTION PROJECT # - SHEET 1 OF 1 2:1 B 9230-05-1312 02

ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI. 07 Updated to include IP68 version RKC 12/3/2008
Mounting Adapter Tool Adapter

Plate Plate
9.208±0.025
27.6
(2) 3mm Slip Fit 3.3

28
24
+X +X
Strain Relief
Fitting for Cable
120° 10.160±0.025
10.160±0.025
15.240±0.025
-Y +Y 9.1 +Y -Y
-Z +Z 25
Min
47
14.454±0.025
9.9
MAX
65° -X Sensing Reference -X

(3) TAP M3X0.5 4..5 Frame Origin BC 20.3
Equally Spaced
Frame Origin (3) TAP M3X0.5 3.0
(2) 3mm Slip Fit 7 Equally Spaced
BC 20.3
Customer Interface Customer Interface
TOOL SIDE

Fax: +1.919.772.8259 www.ati-ia.com
ISO 9001 Registered Company
NOTES:
1. Material: Stainless Steel DRAWN BY: TITLE
Dan Norton 12/2/05
2. Tool and mounting adapters have M3 tapped holes and IP65/IP68 Nano25 Transducer w/ Axial Cable Exit
3mm dowel pin holes for interfacing CHECKED BY:
Penny Fusco 3/16/07
5.4.10 Nano25 IP65/IP68 Transducer with Axial Cable Exit Drawing
3. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE SCALE SIZE DRAWING NUMBER

WEIGHT LBS:
PLATES DUE TO POTENTIAL DAMAGE 0.21 2.5:1 B 9230-05-1259-07
PRODUCT RELEASE # 051201-2 DATE: SHEET 1 OF 1
ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI. 03 Corrected title block RKC 11/26/2008
Mounting Adapter
Plate
(2) 3 Slip Fit
8.799±0.025
7
Customer Interface 29.9
9.208±0.025 (2)
3 Slip Fit
Sensing Reference 3
26.3
Frame Origin Customer Interface
+X +X
23.9
MAX
14
10.160±0.025 10.160±0.025
15.240±0.025
25
-Y +Y -Z +Z +Y -Y
14.454±0.025 30°
48
B.C. 20.3
-X B.C. 20.3
-X
7.4
(3) Tap M3X0.5 3
28 Tool Adapter Equally Spaced
30° Plate Customer Interface
SIDE VIEW TOOL SIDE
(3) Tap M3X0.5 4.5
Equally Spaced Radial Cable Exit Sensing Reference
Customer Interface Frame Origin
MOUNTING SIDE

NOTES: ISO 9001 Registered Company
1. Material: Stainless Steel
2. Tool and Mounting Adapters have M3 tapped holes and 3mm dowel DRAWN BY: TITLE
R. Chambers 7/10/08
pin holes for interfacing IP65/IP68 Nano25 Transducer with Radial Cable Exit
CHECKED BY:
P. Fusco 7/15/08
5.4.11 Nano25 IP65/IP68 Transducer with Radial Cable Exit Drawing
3. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE PLATES
DUE TO POTENTIAL DAMAGE WEIGHT LBS:
5:2 B 9230-05-1337-03
PRODUCT RELEASE # 080701-1 DATE: SHEET 1 OF 1
13 Eco 7635; Add -E cable exit. CCS 3/15/2010
Nano25-R Cable Exit

(Standard) Nano25-R Cable Exit
Nano25-R Cable Exit
(Standard) (Standard)
21.6 +X
+X Tool Adapter Plate
8.799±0.025
4.5 Sensing Reference
B.C. 17 6.060 Frame Origin
2.1
6.035 120°
Mounting Adapter (2) 3 Slip Fit 3.3
Plate (B.C. 20.32)

8.1 3 15.240±0.025
-Y +Y -Z +Z 25
+Y -Y
42°
3 Slip Fit 7.0

(B.C. 20.32) Sensing Reference
65° Frame Origin
Customer Interface (3) Tap M3x.5 7.0 (3) Tap M3x.5 3.5
(See Note 3) Nano25-A Cable Exit -X
B.C. 20.32 (Alternate) B.C. 20.32
Equally Spaced Equally Spaced
9.208±0.025 Customer Interface Customer Interface
-X (See Note 3) (See Note 3) TOOL SIDE
49
Nano25-A Cable Exit
(Alternate)
5.4.12 Legacy Nano25 Transducer Drawing
ALTERNATE CABLE EXIT ALTERNATE CABLE EXIT NANO25-R ISOMETRIC VIEW

NANO25-A NANO25-E

Notes: DO NOT SCALE DRAWING. DRAWN IN SOLIDWORKS. Tel: +1.919.772.0115 Email: info@ati-ia.com
1. Mounting Adapter, Tool Adapter, and transducer made of Stainless Steel.
2. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE PLATES OR CABLE FITTING ISO 9001 Registered Company
DUE TO POTENTIAL DAMAGE. PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY MANNER
EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
3. DO NOT EXCEED INTERFACE DEPTH, MAY CAUSE DAMAGE. DRAWN BY: TITLE
4. Connector (not shown) has 17mm diameter and is 67.5mm long. B. Digeso 3/8/00
CHECKED BY: Nano25 Transducer
P.Fusco 7/17/06
WEIGHT LBS:
2:1 B 9230-05-1083 13
PRODUCT RELEASE # - DATE: SHEET 1 OF 1
5.5 Nano43 Specifications

Fxy ±68 lbf ±300 N
Fz ±86 lbf ±380 N
Resonant Frequency
Fx, Fy, Tz 2800 Hz 2800 Hz
Fz, Tx, Ty 2300 Hz 2300 Hz
Weight1 0.0854 lb 0.0387 kg
1
Note:
NOTICE: The outer body of the Nano43 is electrically floating from the rest of the
system. If the transducer signal has additional noise, it may be necessary to electrically
connect the transducer body to the case of the F/T system.

Table 5.19— Nano43 Calibrations (excludes CTL calibrations)1, 2
Sensor
Nano43 US‑2‑1 2 2 1 1 1/2320 1/2320 1/4640 1/4640
Nano43 US‑4‑2 4 4 2 2 1/1160 1/1160 1/2320 1/2320
Nano43 US‑8‑4 8 8 4 4 1/580 1/580 1/1160 1/1160
Sensor
Nano43 SI‑9‑0.125 9 9 125 125 1/512 1/512 1/40 1/40
Nano43 SI‑18‑0.25 18 18 250 250 1/256 1/256 1/20 1/20
Nano43 SI‑36‑0.5 36 36 500 500 1/128 1/128 1/10 1/10
Notes:
50

Table 5.20— Nano43 CTL Calibrations1, 2
Sensor
Nano43 US‑2‑1 2 2 1 1 1/1160 1/1160 1/2320 1/2320
Nano43 US‑4‑2 4 4 2 2 1/580 1/580 1/1160 1/1160
Nano43 US‑8‑4 8 8 4 4 1/290 1/290 1/580 1/580
Sensor
Nano43 SI‑9‑0.125 9 9 125 125 1/256 1/256 1/20 1/20
Nano43 SI‑18‑0.25 18 18 250 250 1/128 1/128 1/10 1/10
Nano43 SI‑36‑0.5 36 36 500 500 1/64 1/64 1/5 1/5
Notes:

Sensor
Nano43 US‑2‑1 N/A N/A N/A N/A N/A N/A
Nano43 US‑4‑2 ±4 ±4 ±2 0.4 0.4 0.2
Nano43 US‑8‑4 ±8 ±8 ±4 0.8 0.8 0.4
Sensor
Nano43 SI‑9‑0.125 N/A N/A N/A N/A N/A N/A
Nano43 SI‑18‑0.25 ±18 ±18 ±250 1.8 1.8 25
Nano43 SI‑36‑0.5 ±36 ±36 ±500 3.6 3.6 50
Notes:

Sensor Calibration
(/ lbf) (/ lbf‑in) (/ N) (/ Nmm)
Nano43 US‑2‑1 / SI‑9‑0.125 N/A N/A N/A N/A
Nano43 US‑4–2 / SI‑18–0.25 4640 9280 1024 80
Nano43 US‑8–4 / SI‑36–0.5 2320 4640 512 40
51
Document #9620-05-Transducer Section‑26 Nano43
5.5.6 Nano43 (US Calibration Complex Loading)
US-2-1 US-4-2 US-8-4
52
Document #9620-05-Transducer Section‑26 Nano43
5.5.7 Nano43 (SI Calibration Complex Loading)
SI-9-0.125 SI-18-0.25 SI-36-0.5
53
06 ECO12438: Update transducer construction ELB 31JUL2014
25.305±0.025 11.53 11.893±0.025

B.C. 36.8 6.847±0.025
7.047±0.025 Mounting Adapter Plate
3X Tap M3 X 0.5 3.2 Sensing Reference
+X Equally Spaced +X Frame Origin
19.417±0.025
Customer Interface
3X Tap M3 X 0.5 3.8
Equally Spaced

17.013±0.025
Frame Origin
43 20.599±0.025
-Y +Y +Y -Y
-Z +Z
9.779±0.025
B.C. 36.8
Tool Adapter Plate

5.5.8 Nano43 Transducer Drawing
54
2X 2 Slip Fit 3.8 -X
Customer Interface -X Nano43-R Cable Exit 20 THRU 2X 2 Slip Fit 3.4
(No Alternative Available) (See Note 5) TOOL SIDE Customer Interface
MOUNTING SIDE
3.6
SIDE VIEW
ISOMETRIC VIEW
NOTES: NOTES: UNLESS OTHERWISE 1031 Goodworth Drive, Apex, NC 27539, USA
1. Mounting and Tool Adapter made of aluminum, Transducer made of SPECIFIED.
Tel: +1.919.772.0115 Email: info@ati-ia.com
hardened stainless steel. DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
2. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE PLATES OR ALL DIMENSIONS ARE IN ISO 9001 Registered Company
CABLE FITTING DUE TO POTENTIAL DAMAGE. MILLIMETERS.
3. DO NOT EXCEED INTERFACE DEPTH. MAY CAUSE DAMAGE MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
4. Standard connector (not shown) has 17mm diameter & is 67.5mm long. TITLE
DRAWN BY: B.Woodleif 1/12/01
5. Do not allow items passing through center hole to touch both the Mounting
and Tool Adapter Plates or accuracy will be compromised. CHECKED BY: LJH 7/15/04
Nano43 Transducer
3rd ANGLE PROJECTION PROJECT # -------- SHEET 1 OF 1 1:1 B 9230-05-1110 06

5.6 Mini27 Titanium Specifications

5.6.1 Mini27 Titanium Physical Properties
Table 5.23—Mini27 Titanium Physical Properties
Fxy ±330 lbf ±1500 N
Fz ±1000 lbf ±4600 N
Resonant Frequency
Fx, Fy, Tz N/A N/A
Fz, Tx, Ty N/A N/A
Weight1 0.0736 lb 0.0334 kg
1
Note:

Table 5.24— Mini27 Titanium Calibrations (excludes CTL calibrations)1, 2
Sensor
Mini27 Titanium US‑10‑18 10 20 18 10 1/400 3/400 1/400 1/800
Mini27 Titanium US‑20‑36 20 40 36 20 1/200 3/200 1/200 1/400
Sensor
Mini27 Titanium SI‑40‑2 40 80 2 1 3/200 3/100 3/8000 1/4000
Mini27 Titanium SI‑80‑4 80 160 4 2 3/100 3/50 3/4000 1/2000
Notes:
55

Table 5.25— Mini27 Titanium CTL Calibrations1, 2
Sensor
Mini27 Titanium US‑10‑18 10 20 18 10 1/200 3/200 1/200 1/400
Mini27 Titanium US‑20‑36 20 40 36 20 1/100 3/100 1/100 1/200
Sensor
Mini27 Titanium SI‑40‑2 40 80 2 1 3/100 3/50 3/4000 1/2000
Mini27 Titanium SI‑80‑4 80 160 4 2 3/50 3/25 3/2000 1/1000
Notes:

Table 5.26— Mini27 Titanium Analog Output
Sensor
Mini27 Titanium US‑10‑18 ±10 ±20 ±18 1 2 1.8
Mini27 Titanium US‑20‑36 ±20 ±40 ±36 2 4 3.6
Sensor
Mini27 Titanium SI‑40‑2 ±40 ±80 ±2 4 8 0.2
Mini27 Titanium SI‑80‑4 ±80 ±160 ±4 8 16 0.4
Notes:

Sensor Calibration
(/ lbf) (/ lbf‑in) (/ N) (/ Nm)
Mini27 Titanium US‑1–18 / SI‑40–2 3200 3200 800 32000
Mini27 Titanium US‑20–36 / SI‑80–4 1600 1600 400 16000
Mini27 Titanium Tool Transform Factor 0.01 in/lbf 0.25 mm/N
56
Mini27 Titanium
5.6.6 Mini27 Titanium (US Calibration Complex Loading)
US-10-18 US-20-36
57
Mini27 Titanium
5.6.7 Mini27 Titanium (SI Calibration Complex Loading)
SI-40-2 SI-80-4
58
04 ECO 11406: Corrected Isometric view title Mini27TI-R LJH 9/17/13
6X Tap M3X0.5 5.0

Pairs Equally Spaced 18.2 Sensing Reference 36° Typ.
36° Typ. Customer Interface Frame Origin
(See Note 3)
6X Tap M3X0.5 5.0
Pairs Equally Spaced 18°
18° +X 2X 2 Slip Fit 3.8
+X Customer Interface
11.049±0.025 Mounting (See Note 3) Customer Interface
B.C. 22.1 Adapter
Plate
5.525±0.025
16.574±0.025 B.C. 22.1

27
+Y -Z +Z -Y
-Y +Y
5.2 30°
2X 2 Slip Fit 3.8

Customer Interface
15
-X Mini27Ti-R Cable Tool -X Sensing Reference
Exit (Alternate) Frame Origin
59
Adapter
Plate 9.569±0.025
9.569±0.025 2.1
19.137±0.025
3.3
MOUNTING SIDE 6.4 6.4 TOOL SIDE
SIDE VIEW
5.6.8 Mini27 Titanium Transducer Drawing
MINI27TI-A ISOMETRIC VIEW MINI27TI-R ISOMETRIC VIEW

SPECIFIED.
MILLIMETERS.
Notes: PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
1. Material: Transducer, Mounting and Tool Adapter made of Titanium Ti-6AI-4V TITLE
Grade 5. DRAWN BY: J. Walser 02/27/2012
2. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE PLATES OR CABLE CHECKED BY: R. Chambers 02/28/12
Titanium Mini27 Transducer
FITTING DUE TO POTENTIAL DAMAGE
3. DO NOT EXCEED INTERFACE DEPTH, MAY CAUSE DAMAGE.
4. Standard connector (not shown) has 17mm diameter and is 67.5mm long. PROJECT #
3rd ANGLE PROJECTION 100429-1 SHEET 1 OF 1 3:1 B 9230-05-1420 04
REV. DESCRIPTION INITIATOR DATE
02 Added 7.6 dimension RTD 1/17/2019
03 Added 17.2 dimension RTD 1/18/2019
Sensing Reference
6X M3X0.5 5.0 Frame Origin 36° Typ.
36° Typ.
Pairs Equally Spaced 19.4
Customer Interface 6X M3X0.5 5.0
(See Note 3. ) 7.6 Pairs Equally Spaced
11.049±0.025 18° Mounting +X 18°
+X Adapter Customer Interface 2X 2 Slip Fit 3.8
Plate (See Note 3. ) Customer Interface

18.6
5.525±0.025
B.C. 22.1
16.574±0.025 +Y +Y -Y
-Z +Z 27
-Y
17.2
2X R4.7
30° Sensing
Reference
2X 2 Slip Fit 3.8 Frame Origin
Customer Interface -X
-X
9.569±0.025
9.569±0.025
60
B.C. 22.1 19.137±0.025
3.6 Tool
MOUNTING SIDE Adapter
9.5 Plate
TOOL SIDE
SIDE VIEW
5.6.9 Mini27‑E Titanium Transducer Drawing

SPECIFIED.
MILLIMETERS.
1. Material: Titanium Ti-6AI-4V Grade 5. TITLE
2. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE PLATES OR CABLE DRAWN BY: R.Dupree 01/15/19
FITTING DUE TO POTENTIAL DAMAGE CHECKED BY: P.Fusco 01/16/19
Mini27-E Transducer with Strain Relieved Cable
4. Standard connector (not shown) has 17mm diameter and is 67.5mm long. SCALE SIZE DRAWING NUMBER REVISION
3rd ANGLE PROJECTION PROJECT # 181213-1 SHEET 1 OF 1 2:1 B 9230-05-1553 03
5.7 Mini40 Specifications (Includes IP65/IP68 Versions)

5.7.1 Mini40 Physical Properties
Table 5.28—Mini40 Physical Properties
Fxy ±180 lbf ±810 N
Fz ±530 lbf ±2400 N
1.2x10 lb/in 2.0x10 7 N/m
Resonant Frequency
Fx, Fy, Tz 3200 Hz 3200 Hz
Fz, Tx, Ty 4900 Hz 4900 Hz
1
1
Note:
5.7.2 Mini40 IP65/IP68 Physical Properties

Table 5.29—Mini40 IP65/IP68 Physical Properties
Fxy ±180 lbf ±810 N
Fz ±530 lbf ±2400 N
Resonant Frequency
Fx, Fy, Tz 1400 Hz 1400 Hz
Fz, Tx, Ty 1300 Hz 1300 Hz
1
1
Note:
61

water at sea level.
Submersion Depth
IP68 Mini40 US Metric
62

Table 5.30— Mini40 Calibrations (excludes CTL calibrations)1, 2
Sensor
Mini40 US‑5‑10 5 15 10 10 1/800 1/400 1/800 1/800
Mini40 US‑10‑20 10 30 20 20 1/400 1/200 1/400 1/400
Mini40 US‑20‑40 20 60 40 40 1/200 1/100 1/200 1/200
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Mini40 SI‑20‑1 20 60 1 1 1/200 1/100 1/8000 1/8000
Mini40 SI‑40‑2 40 120 2 2 1/100 1/50 1/4000 1/4000
Mini40 SI‑80‑4 80 240 4 4 1/50 1/25 1/2000 1/2000
Notes:
63

Table 5.31— Mini40 CTL Calibrations1, 2
Sensor
Mini40 US‑5‑10 5 15 10 10 1/400 1/200 1/400 1/400
Mini40 US‑10‑20 10 30 20 20 1/200 1/100 1/200 1/200
Mini40 US‑20‑40 20 60 40 40 1/100 1/50 1/100 1/100
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Mini40 SI‑20‑1 20 60 1 1 1/100 1/50 1/4000 1/4000
Mini40 SI‑40‑2 40 120 2 2 1/50 1/25 1/2000 1/2000
Mini40 SI‑80‑4 80 240 4 4 1/25 2/25 1/1000 1/1000
Notes:

Table 5.32— Mini40 Analog Output
Sensor
Mini40 US‑5‑10 ±5 ±15 ±10 0.5 1.5 1
Mini40 US‑10‑20 ±10 ±30 ±20 1 3 2
Mini40 US‑20‑40 ±20 ±60 ±40 2 6 4
Tx,Ty,Tz Fx,Fy Fz 2
Tx,Ty,Tz
Sensor
Calibration (N) (N) (Nm) (N/V) (N/V) (Nm/V)
Mini40 SI‑20‑1 ±20 ±60 ±1 2 6 0.1
Mini40 SI‑40‑2 ±40 ±120 ±2 4 12 0.2
Mini40 SI‑80‑4 ±80 ±240 ±4 8 24 0.4
Notes:

Sensor Calibration
(/ lbf) (/ lbf‑in) (/ N) (/ Nm)
Mini40 US‑5–10 / SI‑20–1 3200 3200 800 32000
Mini40 US‑10–20 / SI‑40–2 1600 1600 400 16000
Mini40 US‑20–40 / SI‑80‑4 800 800 200 8000
Mini40 Tool Transform Factor 0.01 in/lbf 0.25 mm/N
64
Mini40
5.7.7 Mini40 (US Calibration Complex Loading)(Includes IP65/IP68)1
US-5-10 US-10-20 US-20-40

65
Mini40
5.7.8 Mini40 (SI Calibration Complex Loading)(Includes IP65/IP68)1
SI-20-1 SI-40-2 SI-80-4

66
ECO 14598; Increased OD to one decimal place;
09 Changed Tool Side customer interface hole depths: M3 SZJ 8/24/2016
from 5.0 to 3.0mm, Dowel holes from 5.0 to 2.5mm.
15.155±0.025
26.419±0.025
120°
14 Tool Adapter 2X 3 Slip Fit 2.5
10.051±0.025 Plate Customer Interface
+X +X (See Note 3)
Mounting Adapter
Plate
120°
17.500±0.025
10.943±0.025 13.098±0.025
26.250±0.025
7.5°
-Z +Z 40.1 +Y -Y
-Y +Y
B.C. 33
2X 3 Slip Fit 5.0
Customer Interface
(See Note 3) B.C. 33
6.35 Thru Hole 5.3 Sensing Reference

Sensing Reference
(See Note 5) Frame Origin Frame Origin
17.3
-X
67
5.7.9 Mini40‑E Transducer Drawing
-X 3X Tap M3 X .5 3.0
3X Tap M3 X .5 5.0 Equally Spaced
Equally Spaced Customer Interface
Customer Interface 22.5° (See Note 3)
(See Note 3)
22.5°
ISOMETRIC VIEW

SPECIFIED.
Notes: DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
1. Material: Mounting and Tool Adapter made of Aluminum, ALL DIMENSIONS ARE IN ISO 9001 Registered Company
MILLIMETERS.
Transducer made of hardened stainless steel. PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY MANNER
2. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE
TITLE
PLATES OR CABLE DUE TO POTENTIAL DAMAGE. DRAWN BY: J. Parker 3/14/07
3. DO NOT EXCEED INTERFACE DEPTH. MAY CAUSE DAMAGE Mini40-E Transducer with Strain Relieved Cable
CHECKED BY: P.Fusco 4/18/07
5. Do not allow items passing through center hole to touch both the Mounting and
Tool Adapter Plates or accuracy will be compromised.
ECO 14598; Increased OD to one decimal place.
11 Removed cable exit dimension for -E configuration and SZJ 8/24/2016
added note to see -E drawing for Alternative Cable Exit.
26.419±0.025 12.27
(-R and -A) Sensing Reference 15.155±0.025 2X 3 Slip Fit 2.5
Mounting Adapter Frame Origin
120° 10.051±0.025 Plate 14 Customer Interface
(-E) +X (See Note 3)
+X
120°
17.500±0.025
10.943±0.025 13.098±0.025
26.250±0.025
+Z 40.1 +Y -Y
-Z
-Y +Y
7.5°
B.C. 33
B.C. 33
2X 3 Slip Fit 2.5
Customer Interface 6.35 Thru Hole
(See Note 3) (Radial Cable Only) Sensing Reference
(See Note 5) Frame Origin
3X Tap M3 X .5 5.0 -X Tool Adapter -X 3X Tap M3 X.5 3.0

Equally Spaced Plate Equally Spaced
68
(See Note 3) Mini40-R Cable Exit Mini40-R Cable Exit (See Note 3)
30° (-R) (Radial Cable Only) Mini40-R Cable Exit (Radial Cable Only)
22.5°
(Radial Cable Only)
SIDE VIEW TOOL SIDE
5.7.10 Legacy Mini40 Transducer Drawing
MOUNTING SIDE
MINI40-A
Cable Exit
ALTERNATE CABLE EXIT
ALTERNATE CABLE EXIT MINI40-A MINI40-R ISOMETRIC VIEW
MINI40-E
See -E Drawing 9230-05-1314 NOTES: UNLESS OTHERWISE 1031 Goodworth Drive, Apex, NC 27539, USA
SPECIFIED.
Notes: Tel: +1.919.772.0115 Email: info@ati-ia.com
1. Material: Mounting and Tool Adapter made of either Aluminum or Stainless Steel DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
(customer specified). Transducer made of hardened Stainless Steel. MILLIMETERS.
2. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE PLATES PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY MANNER
OR CABLE FITTING DUE TO POTENTIAL DAMAGE.
TITLE
3. DO NOT EXCEED INTERFACE DEPTH, MAY CAUSE DAMAGE. DRAWN BY: D. Swanson 3/9/06
4. Standard connector (not shown) has 17mm diameter and is 67.5mm long. CHECKED BY: D. Perry 3/9/06
Mini40 Transducer Radial & Axial Cable Exit
5. For Radial cable units: Do not allow items passing through center hole
to touch both the Mounting and Tool Adapter Plates or accuracy SCALE SIZE DRAWING NUMBER REVISION
will be compromised. PROJECT #
3rd ANGLE PROJECTION SHEET 1 OF 1 2:1 B 9230-05-1278 11
03 ECO 14323; Increased tolerance on dowel hole positions SZJ 3/28/2016

from .013 to .025
26.419±0.025 Mounting Adapter Tool Adapter 2X 3 Slip Fit 4.5

Plate 21.1 Plate 15.155±0.025
Customer Interface
10.051±0.025
+X
+X
2X 3 Slip Fit 4.5 Sensing Reference
10.943±0.025 26.250±0.025 17.500±0.025

13.098±0.025 53.3
+Y -Y
-Z +Z
-Y +Y
Mini40-A Cable Exit

38.1 (Alternate)
33 Sensing Reference
Frame Origin B.C. 33
3X Tap M3X0.5 4.5
Equally Spaced -X 36.3 -X
Customer Interface MAX
69
22.5° 3X Tap M3X0.5 4.5
Equally Spaced
Mini40-R Cable Exit Mini40-R Cable Exit
(Standard) Customer Interface
(Standard)
30°
7.4
TOOL SIDE
5.7.11 Mini40 IP65/IP68 Transducer Drawing
SIDE VIEW
MOUNTING SIDE
ALTERNATE CABLE EXIT MINI40-R ISOMETRIC VIEW

MINI40-A
SPECIFIED.
Notes: MILLIMETERS.
1. Material: Stainless Steel. PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
2. Tool and Mounting Adapters have M3 tapped holes and 3mm TITLE
DRAWN BY: R. Chambers 3/9/12
dowel pin holes for interfacing.
3. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE CHECKED BY: J. Walser 3/9/12
IP65/IP68 Mini40 Transducer
PLATES DUE TO POTENTIAL DAMAGE.
4. Standard connector (not shown) has 17mm diameter & is 67.5mm long. SCALE SIZE DRAWING NUMBER REVISION
5. Cable is IP65/IP68 rated only at transducer end. 3rd ANGLE PROJECTION PROJECT # 110516-2 SHEET 1 OF 1 3:2 B 9230-05-1421 03
5.8 Mini45 Titanium Specifications

5.8.1 Mini45 Titanium Physical Properties
Table 5.34—Mini45 Titanium Physical Properties
Fxy ±670 lbf ±3000 N
Fz ±1400 lbf ±6400 N
Resonant Frequency
Fx, Fy, Tz 5800 Hz 5800 Hz
Fz, Tx, Ty 4600 Hz 4600 Hz
1
Note:

Table 5.35— Mini45 Titanium Calibrations (excludes CTL calibrations)1, 2
Sensor
Mini45 Titanium US‑15‑25 15 30 25 25 3/800 1/160 1/300 1/400
Mini45 Titanium US‑30‑50 30 60 50 50 3/400 1/80 1/150 1/200
Mini45 Titanium US‑60‑100 60 120 100 100 3/200 1/40 1/75 1/100
Sensor
Mini45 Titanium SI‑60‑3 60 120 3 3 1/60 7/240 3/8000 1/3200
Mini45 Titanium SI‑120‑6 120 240 6 6 1/30 7/120 3/4000 1/1600
Mini45 Titanium SI‑240‑12 240 480 12 12 1/15 7/60 3/2000 1/800
Notes:
70

Table 5.36— Mini45 Titanium CTL Calibrations1, 2
Sensor
Mini45 Titanium US‑15‑25 15 30 25 25 3/400 1/80 1/150 1/200
Mini45 Titanium US‑30‑50 30 60 50 50 3/200 1/40 1/75 1/100
Mini45 Titanium US‑60‑100 60 120 100 100 3/100 1/20 2/75 1/50
Sensor
Mini45 Titanium SI‑60‑3 60 120 3 3 1/30 7/120 3/4000 1/1600
Mini45 Titanium SI‑120‑6 120 240 6 6 1/15 7/60 3/2000 1/800
Mini45 Titanium SI‑240‑12 240 480 12 12 2/15 7/30 3/1000 1/400
Notes:

Table 5.37— Mini45 Titanium Analog Output
Sensor
Mini45 Titanium US‑15‑25 ±15 ±30 ±25 1.5 3 2.5
Mini45 Titanium US‑30‑50 ±30 ±60 ±50 3 6 5
Mini45 Titanium US‑60‑100 ±60 ±120 ±100 6 12 10
Sensor
Mini45 Titanium SI‑60‑3 ±60 ±120 ±3 6 12 0.3
Mini45 Titanium SI‑120‑6 ±120 ±240 ±6 12 24 0.6
Mini45 Titanium SI‑240‑12 ±240 ±480 ±12 24 48 1.2
Note:

Sensor Calibration
(/ lbf) (/ lbf‑in) (/ N) (/ Nm)
Mini45 Titanium US‑15‑25 / SI‑60‑3 640 704 128 6016
Mini45 Titanium Tool Transform Factor 0.009091 in/lbf 0.21277 mm/N
71
Mini45 Titanium
5.8.6 Mini45 Titanium (US Calibration Complex Loading)
US-15-25 US-30-50 US-60-100
72
Mini45 Titanium
5.8.7 Mini45 Titanium (SI Calibration Complex Loading)
SI-60-3 SI-120-6 SI-240-12
73
02 ECO13701: Added Radial Exit Option; Removed Customer ANG 8/17/2015

Interface Designator From Tool Side Center
3 Slip Fit 5
Customer Interface
(See Note 3) 12.208±0.025 2X 3 Slip Fit 5
Sensing Reference Customer Interface
17.5 Frame Origin (See Note 3)
Mounting
Adapter
+X Plate +X
9.35 Thru
(See Note 5)
9.538
9.512 3
Customer Interface
19.622 0.025 (See Note 5)
21.146±0.025 14.097±0.025
-Y +Y
-Z +Z 45
+Y -Y
30° 24 26°
Sensing Reference
Frame Origin
B.C. 28.2
Mini45Ti-R Cable Exit
B.C. 39.2 (Alternate) -X
-X
74
B.C. 25.4 6X Tap M3X0.5 5 Tool 20° 6X Tap M3X0.5 5
10° Pairs Equally Spaced 5.7 5.5 Adapter Pairs Equally Spaced
Cable Exit Plate
20° Customer Interface 40° Customer Interface
Typ (See Note 3) Typ (See Note 3)

5.8.8 Mini45 Titanium Axial Exit Transducer Drawing
ALTERNATE EXIT MINI45TI-R

SPECIFIED.
Notes: ALL DIMENSIONS ARE IN ISO 9001 Registered Company
1. Material: Transducer, Mounting and Tool Adapter made of MILLIMETERS.
Titanium Ti-6Al-4V Grade 5 PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
2. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE PLATES TITLE
3. DO NOT EXCEED INTERFACE DEPTH, MAY CAUSE DAMAGE. CHECKED BY: J. Walser 1/4/13
Mini45 Titanium Transducer
5. Do not allow items passing through center hole to touch both the Mounting SCALE SIZE DRAWING NUMBER REVISION
and Tool Adapter Plates or accuracy will be compromised. 3rd ANGLE PROJECTION PROJECT # 121116-1 SHEET 1 OF 1 2:1 B 9230-05-1440 02
01 Initial Drawing RKC 1/4/2013
3 Slip Fit 5
(See Note 3) 2X 3 Slip Fit 5
Customer Interface
Sensing Reference
Mounting Frame Origin (See Note 3)
17.5
50° Adapter
+X Plate +X 9.576
9.474 3
Customer Interface
(See Notes 4 & 5)

20°
19.622±0.025
6X Tap M3X0.5 5 21.146±0.025 14.097±0.025
Pairs Equally Spaced
Customer Interface
-Y +Y
(See Note 3) -Z +Z 45
+Y -Y
15.8
Sensing Reference
Frame Origin
B.C. 39.24
75
B.C. 28.19
-X -X
13.5
Tool 6X Tap M3X0.5 5
9.538 5.3 Adapter
5.5 Pairs Equally Spaced
9.512 3 Plate
30.9 Customer Interface
Customer Interface
(See Note 3)
(See Notes 4 & 5) 31.3
8.3 20°
40°
Typ

Notes: SPECIFIED.
1. Material: Transducer, Mounting and Tool Adapter made of DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
Titanium Ti-6Al-4V Grade 5 ALL DIMENSIONS ARE IN ISO 9001 Registered Company
2. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE PLATES MILLIMETERS.
5.8.9 Mini45 Titanium Right Angle E‑Exit Transducer Drawing

OR CABLE FITTING DUE TO POTENTIAL DAMAGE. MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
ISOMETRIC VIEW
3. DO NOT EXCEED INTERFACE DEPTH, MAY CAUSE DAMAGE. TITLE
4. Thru hole is 9.4mm. Specified tolerances are for mating to a boss.
5. Do not allow items passing through center hole to touch both the Mounting CHECKED BY: L. Fisher 1/31/13
Mini45 Titanium Right Angle E-Exit Transducer
and Tool Adapter Plates or accuracy will be compromised.
6. Standard connector (not shown) has 17mm diameter and is 67.5mm long. SCALE SIZE DRAWING NUMBER REVISION

5.9 Mini45 Specifications (Includes IP65/IP68 Versions)

Fxy ±1100 lbf ±5100 N
Fz ±2300 lbf ±10000 N
Tz ±1200 inf‑lb ±140 Nm
5.6x10 lb/in 9.8x10 7 N/m
Resonant Frequency
Fx, Fy, Tz 5600 Hz 5600 Hz
Fz, Tx, Ty 5400 Hz 5400 Hz
Weight1 0.202 lb 0.0917 kg
1
1
Note:

Fxy ±1100 lbf ±5100 N
Fz ±2300 lbf ±10000 N
Tz ±1200 inf‑lb ±140 Nm
Resonant Frequency
Fx, Fy, Tz 5200 Hz 5200 Hz
Fz, Tx, Ty 4200 Hz 4200 Hz
1
1
Note:
76

water at sea level.
Submersion Depth

Sensor
Mini45 US‑30‑40 30 60 40 40 1/80 1/80 1/88 1/176
Mini45 US‑60‑80 60 120 80 80 1/40 1/40 1/44 1/88
Mini45 US‑120‑160 120 240 160 160 1/20 1/20 1/22 1/44
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Mini45 SI‑145‑5 145 290 5 5 1/16 1/16 1/752 1/1504
Mini45 SI‑290‑10 290 580 10 10 1/8 1/8 1/376 1/752
Mini45 SI‑580‑20 580 1160 20 20 1/4 1/4 1/188 1/376
Notes:
77

Sensor
Mini45 US‑30‑40 30 60 40 40 1/40 1/40 1/44 1/88
Mini45 US‑60‑80 60 120 80 80 1/20 1/20 1/22 1/44
Mini45 US‑120‑160 120 240 160 160 1/10 1/10 1/11 1/22
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Mini45 SI‑145‑5 145 290 5 5 1/8 1/8 1/376 1/752
Mini45 SI‑290‑10 290 580 10 10 1/4 1/4 1/188 1/376
Mini45 SI‑580‑20 580 1160 20 20 1/2 1/2 1/94 1/188
Notes:

Sensor
Mini45 US‑30‑40 ±30 ±60 ±40 3 6 4
Mini45 US‑60‑80 ±60 ±120 ±80 6 12 8
Mini45 US‑120‑160 ±120 ±240 ±160 12 24 16
(SI) Metric Fx,Fy Fz2 Tx,Ty,Tz Fx,Fy Fz2 Tx,Ty,Tz
Sensor
Mini45 SI‑145‑5 ±145 ±290 ±5 14.5 29 0.5
Mini45 SI‑290‑10 ±290 ±580 ±10 29 58 1
Mini45 SI‑580‑20 ±580 ±1160 ±20 58 116 2
Notes:

Sensor Calibration
(/ lbf) (/ lbf‑in) (/ N) (/ Nm)
Mini45 US‑30–40 / SI‑145–5 640 704 128 6016
Mini45 US‑60–80 / SI‑290–10 320 352 64 3008
Mini45 US‑120–160 / SI‑580–20 160 176 32 1504
78

Sensor Calibration
(/ lbf) (/ lbf‑in) (/ N) (/ Nm)
Mini45 Tool Transform Factor 0.009091 in/lbf 0.21277 mm/N
79
Document #9620-05-Transducer Section‑26 Mini45
5.9.7 Mini45 (US Calibration Complex Loading)(Includes IP65/IP68)1
US-30-40 US-60-80 US-120-160

80
Mini45
5.9.8 Mini45 (SI Calibration Complex Loading)(Includes IP65/IP68)1
SI-145-5 SI-290-10 SI-580-20

81
ECO 13927; Updated to show correct orientation of Tool Adapter,
repositioned Tool Side dimensions/call outs to eliminate
3 Slip Fit 5.0 05 overlapping, and updated Title Block. Updated Notes to include SZJ 3/15/2016
Customer Interface more detailed information and to move Customer Interface from
Notes to specific assembly features.
(See Note 3)
15.7
B.C. 39.24
Sensing Reference 2X 3 Slip Fit 3.2
19.622±0.025 Frame Origin 12.208±0.025
+X 6X Tap M3X0.5 5.0 3.5 Customer Interface
Pairs Equally Spaced +X (See Note 3)
(See Note 3)
9.538 40°
3.0
9.512
(See Note 5)
45 21.146±0.025
5.3
-Y +Y +Y 10°
-Z +Z -Y
20°
15.5
82
6X Tap M3X0.5 3.0
17.3
10° 9.576 Pairs Equally Spaced
12.1 3.0 -X Customer Interface
9.474
(See Note 5) (See Note 3)
10° Mounting Adapter Tool Adapter
B.C. 28.2
-X Sensing Reference
Frame Origin
26.7 SIDE VIEW
TOOL SIDE
MOUNTING SIDE
SPECIFIED.
NOTES: DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
1. Material: Mounting and Tool Adapter made of Aluminum, Transducer made of Stainless Steel. ALL DIMENSIONS ARE IN ISO 9001 Registered Company
MILLIMETERS.
2. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE PLATES OR CABLE DUE TO PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
POTENTIAL DAMAGE. MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
TITLE
3. DO NOT EXCEED INTERFACE DEPTH. MAY CAUSE DAMAGE. DRAWN BY: J. Parker 1/10/07
4. Standard connector (not shown) has 17mm diameter & is 67.5mm long. Mini45-E Transducer with Strain Relieved Cable
CHECKED BY: P. Fusco 1/10/07
5. Do not allow items passing through center hole to touch both the Mounting and Tool Adapter
Plates or accuracy will be compromised.
3rd ANGLE PROJECTION PROJECT # SHEET 1 OF 1 2:1 B 9230-05-1315 05

04 ECO 14343: Added missing 28.2 call out to TOOL SIDE TBC 8/1/2016
view; Updated notes, formatting to current standards.
3 (Slip Fit) 5.0 Mounting Adapter Tool Adapter 12.208±0.025

Customer Interface Plate 15.7 Plate
(See Note 3) 50° 40°
+X +X
14.097±0.025
20° 40°
19.622±0.025
6X Tap M3X0.5 5
(See Note 3) -Z +Z 45 +Y -Y
-Y 15.8 +Y
39.24 28.2
Sensing Reference
Frame Origin
13.5 6X Tap M3X0.5 3
-X -X Pairs Equally Spaced
83
2X 3 (Slip Fit) 3.2 Customer Interface
5.3 (See Note 3)
Customer Interface
(See Note 3)
5.9.10 Mini45‑ERA Transducer Drawing
9.576 31.3 9.576

3 3
9.474 30.9 8.3 9.474 Sensing Reference
(See Note 5) (See Note 5) Frame Origin
TOOL SIDE
ISOMETRIC VIEW
SPECIFIED.
NOTES: DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
1. Material: Mounting and Tool adapter made of Aluminum, Transducer made ALL DIMENSIONS ARE IN ISO 9001 Registered Company
of Stainless Steel. MILLIMETERS.
2. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE PLATES OR MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
CABLE DUE TO POTENTIAL DAMAGE. TITLE
4. Standard connector (not shown) has 17mm diameter & is 67.5mm long. CHECKED BY: P. Fusco 7/17/08
Mini45-ERA Transducer
5. Do not allow items passing through center hole to touch both the mounting
and tool adapter plates or accuracy will be compromised. SCALE SIZE DRAWING NUMBER REVISION

Eco 14465; Base model origin was changed causing

9.538 02 overlapping dims and callouts on this drawing. LJH 6/16/2016
9.512 3 Drawing corrected.
Customer Interface
(See Notes 4 & 5)
15.7 12.208±0.025
3 Slip Fit 5
+X (See Note 3) Mounting Adapter Tool Adapter Plate +X Sensing Reference
Plate Frame Origin
14.097±0.025
8.4 9.576
9.474 3
19.622±0.025 (See Notes 4 & 5)
45
-Y +Y +Y -Y
-Z +Z
7 5.3
30°
21.146±0.025
14
2X 3 Slip Fit 3.2 B.C. 28.2
84
Customer Interface
4X R3 (See Note 3)
5.9.11 Mini45‑AE Transducer Drawing
B.C. 39.24 -X
-X 3.6 6X Tap M3X0.5 3
6X Tap M3X0.5 5 21.2 Pairs Equally Spaced
Sensing Reference Customer Interface
10° Pairs Equally Spaced Frame Origin 20°
Customer Interface 5.7 3.7 (See Note 3)
(See Note 3)
40°
20°

SPECIFIED.
1. Material: Mounting and Tool Adapter made of Aluminum. Transducer DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
made of hardened Stainless Steel. ISOMETRIC VIEW MILLIMETERS.
2. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE PLATES PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
OR CABLE DUE TO POTENTIAL DAMAGE.
TITLE
3. DO NOT EXCEED INTERFACE DEPTH, MAY CAUSE DAMAGE. DRAWN BY: R. Chambers 6/7/12
4. Thru hole is 9.4mm. Specified tolerances are for mating to a boss. CHECKED BY: J. Walser 6/12/12
Mini45-AE Transducer
and Tool Adapter Plates or accuracy will be compromised. SCALE SIZE DRAWING NUMBER REVISION
03 ECO 11152: Add axial cable exit location LTF 6/27/2013
Tooling Adapter 2X 3 Slip Fit 4.5

Plate Customer Interface
10.4 12.207±0.025
+X 3 Slip Fit 4.5 25.1
MAX +X Sensing Reference
120° Customer Interface Frame Origin
B.C. 25.4
9.538
9.512 3
Customer Interface
19.622±0.025
57.9 14.097±0.025
-Y 21.146±0.025
+Y -Z +Z +Y
-Y
B.C. 39.2
B.C. 28.2
Mini45-A Cable Exit Sensing Reference

Mini45-A Cable Exit (Alternate) Frame Origin
(Alternate) -X -X 6X Tap M3X0.5 4.5
38.6 Pairs Equally Spaced
6X Tap M3X0.5 4.5 MAX Mounting Adapter Customer Interface
Pairs Equally Spaced 10° Plate
Customer Interface 10°
7.4 20° 20°
85
22.5° SIDE VIEW
TOOL SIDE
MOUNTING SIDE
5.9.12 Mini45 IP65/IP68 Transducer Drawing
MINI45-R ISOMETRIC VIEW ALTERNATE CABLE EXIT

MINI45-A

SPECIFIED.
1. Material: Stainless Steel MILLIMETERS.
2. Tool and Mounting Adapters have M3 tapped holes and 3mm dowel pin holes for MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
interfacing. TITLE
DRAWN BY: L. Fisher, 2/18/13
3. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE PLATES DUE TO IP65/IP68 Mini45 Transducer
POTENTIAL DAMAGE. CHECKED BY: J. Walser, 2/20/13
5. Cable is IP65 rated only at transducer end. SCALE SIZE DRAWING NUMBER REVISION

ECO 10071; Add alternate cable exit views for
20 Mini45-AE & Mini45-ERA MSD 9/6/2012
3 Slip Fit 5
Customer Interface
(See Note 3) Mounting Adapter Plate
2X 3 Slip Fit 3.4
+X Sensing Reference
Frame Origin 12.208±0.025 Customer Interface
B.C. 39.24 15.7 (See Note 3)
19.622±0.025 +X
9.576
9.538 3 Sensing Reference
3 9.474
9.512 Frame Origin
(See Notes 4 & 5)
Customer Interface
(See Notes 4 & 5)
(120°)
14.097±0.025
B.C. 25.4
45 21.146±0.025
-Y +Y
-Z +Z
+Y -Y
Mini45-R Cable Exit
(Standard) 20°
Tool Adapter B.C. 28.2

5.2 Plate
Mini45-R Cable Exit 6X Tap M3x0.5 3.0

(Standard)
86
2 Pairs Equally Spaced
10° 5.7 3.7 -X Customer Interface
20° 20° (See Note 3)
Typ. 6X Tap M3x0.5 5.0
Mini45-A Cable Exit Pairs Equally Spaced SIDE VIEW
(Alternate) 40°
-X Customer Interface Typ.
(See Note 3)
5.9.13 Legacy Mini45 Transducer Drawing
MOUNTING SIDE TOOL SIDE
ALTERNATE CABLE EXIT ALTERNATE CABLE EXIT MINI45-R ISOMETRIC VIEW

ALTERNATE CABLE EXIT MINI45-E MINI45-ERA
MINI45-A ALTERNATE CABLE EXIT NOTES: UNLESS OTHERWISE 1031 Goodworth Drive, Apex, NC 27539, USA
MINI45-AE SPECIFIED.
1. Mounting and Tool Adapter made of either Aluminum or Stainless Steel ALL DIMENSIONS ARE IN ISO 9001 Registered Company
(customer specified). Transducer made of hardened Stainless Steel. MILLIMETERS.
2. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE PLATES MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
OR CABLE FITTING DUE TO POTENTIAL DAMAGE. TITLE
DRAWN BY: B. Digeso
3. DO NOT EXCEED INTERFACE DEPTH, MAY CAUSE DAMAGE. Mini45 Transducer
4. Thru hole is 9.4mm. Specified tolerances are for mating to a boss. CHECKED BY: D.Norton 2/26/06
and Tool Adapter Plates or accuracy will be compromised. SCALE SIZE DRAWING NUMBER REVISION
6. Connector (not shown) has 17mm diameter and is 67.5mm long. 3rd ANGLE PROJECTION PROJECT # SHEET 1 OF 1 2:1 B 9230-05-1094 20
5.10 Mini58 Specifications (Includes IP60/IP65/IP68 Versions)

Fxy ±4800 lbf ±21000 N
Fz ±11000 lbf ±48000 N
Tz ±7100 inf‑lb ±800 Nm
2.1x10 lb/in 3.7x10 8 N/m
Resonant Frequency
Fx, Fy, Tz 3000 Hz 3000 Hz
Fz, Tx, Ty 5700 Hz 5700 Hz
1
1
Height 1.18 in 30 mm
Note:
87
5.10.2 Mini58 IP60 Physical Properties

Table 5.46—Mini58 IP60 Physical Properties
Fxy ±4800 lbf ±21000 N
Fz ±11000 lbf ±48000 N
Tz ±7100 inf‑lb ±800 Nm
Resonant Frequency
Fx, Fy, Tz N/A N/A
Fz, Tx, Ty N/A N/A
1
1
Note:

Fxy ±4800 lbf ±21000 N
Fz ±11000 lbf ±48000 N
Tz ±7100 inf‑lb ±800 Nm
Resonant Frequency
Fx, Fy, Tz N/A N/A
Fz, Tx, Ty N/A N/A
Diameter1 2.58 in 65.4 mm
Height1 1.48 in 37.6 mm
Note:
88

water at sea level.
Submersion Depth
Fz preload at 4 m depth 24.3 lb 108 N

Sensor
Mini58 US‑150‑250 150 375 250 250 5/112 1/16 1/20 7/240
Mini58 US‑300‑500 300 750 500 500 5/56 1/8 1/10 7/120
Mini58 US‑600‑1000 600 1500 1000 1000 5/28 1/4 1/5 7/60
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Mini58 SI‑700‑30 700 1700 30 30 1/6 7/24 9/1600 1/320
Mini58 SI‑1400‑60 1400 3400 60 60 1/3 7/12 9/800 1/160
Mini58 SI‑2800‑120 2800 6800 120 120 3/4 1 1/4 9/400 1/80
Notes:
89

Sensor
Mini58 US‑150‑250 150 375 250 250 5/56 1/8 1/10 7/120
Mini58 US‑300‑500 300 750 500 500 5/28 1/4 1/5 7/60
Mini58 US‑600‑1000 600 1500 1000 1000 5/14 1/2 2/5 7/30
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Mini58 SI‑700‑30 700 1700 30 30 1/3 7/12 9/800 1/160
Mini58 SI‑1400‑60 1400 3400 60 60 2/3 1 1/6 9/400 1/80
Mini58 SI‑2800‑120 2800 6800 120 120 1 1/2 2 1/2 9/200 1/40
Notes:

Sensor
Mini58 US‑150‑250 ±150 ±375 ±250 15 37.5 25
Mini58 US‑300‑500 ±300 ±750 ±500 30 75 50
Mini58 US‑600‑1000 ±600 ±1500 ±1000 60 150 100
Tx,Ty,Tz Fx,Fy Fz 2
Tx,Ty,Tz
Sensor
Mini58 SI‑700‑30 ±700 ±1700 ±30 70 170 3
Mini58 SI‑1400‑60 ±1400 ±3400 ±60 140 340 6
Mini58 SI‑2800‑120 ±2800 ±6800 ±120 280 680 12
Notes:
90

Sensor Calibration
(/ lbf) (/ lbf‑in) (/ N) (/ Nm)
Mini58 US‑150‑250 / SI‑700‑30 448 960 96 6400
Mini58 US‑300‑500 / SI‑1400‑60 224 480 48 3200
Mini58 US‑600‑1000 / SI‑2800‑120 112 240 16 1600
Mini58 Tool Transform Factor See Tool Transform Factor table
5.10.8 Tool Transform Factor

Table 5.52—Tool Transform Factor
Sensor Calibration US (English) SI (Metric)
Mini58 US‑150‑250 / SI‑700‑30 0.00467 in/lbf 0.150 mm/N
91
Mini58
5.10.9 Mini58 (US Calibration Complex Loading)(Includes IP60/IP65/IP68)1
US-150-250 US-300-500 US-600-1000

92
Help
5.10.10
Mini58
Mini58 (SI Calibration Complex Loading)(Includes IP60/IP65/IP68) 1
SI-700-30 SI-1400-60 SI-2800-120

93
ECO 17630; Dowel dims changed from
07 limit 4.059/4.034 to 4. Dowel changed from 3.7 DS 1/22/2019
to 3.6
R2
6.1
9.5 Thru 30
19.9±0.025 Mounting
(See Note 5)
5.10.11
8.4 Adapter Sensing Reference 17.048±0.025

Plate Frame Origin
+X +X
39 4.2
29.528±0.025
17.3 19.685±0.025
34.5±0.025
-Y +Y
-Z +Z
+Y -Y
30°
58
23±0.025
39
5.3
Sensing Reference
7 Frame Origin
14 2X 4 Slip Fit 3.6
6X Tap M5X0.8 6.5 Mini58-E Cable Exit 18° -X
-X Customer Interface
94
Pairs Equally Spaced (Alternate) 3.6 6X Tap M5X0.8 6.5
18°
Customer Interface Tool Adapter Plate Pairs Equally Spaced
36°
Mini58 Transducer Drawing
(See Note 3) Customer Interface

2X 4 Slip Fit 3.6 SIDE VIEW (See Note 3)
36° TOOL SIDE
Typ Customer Interface
MOUNTING SIDE
ALTERNATE CABLE EXIT ALTERNATE CABLE EXIT

MINI58-ERA ISOMETRIC VIEW
Notes: MINI58-E
1. Material: Hardened Stainless Steel and Aluminum.
2. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE PLATES NOTES: UNLESS OTHERWISE 1031 Goodworth Drive, Apex, NC 27539, USA
SPECIFIED.
OR CABLE DUE TO POTENTIAL DAMAGE. Tel: +1.919.772.0115 Email: info@ati-ia.com
3. DO NOT EXCEED INTERFACE DEPTH. MAY CAUSE DAMAGE. DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
4. Standard connector (not shown) has 17mm diameter and is 67.5mm long. MILLIMETERS.
5. Do not allow items passing through center hole to touch both the PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
Mounting and Tool Adapter Plates or accuracy will be compromised.
TITLE
Mini58 Transducer

03 Modify Mounting Side tap depth to be 6.5mm JW 12/13/2012

5.10.12
B.C. 73.5
31.826±0.025
36.2 17.048±0.025
6X 5.5 Thru
19.919±0.025
Equally Spaced Mounting 6.4 Sensing Reference 2X 4 Slip Fit 6.0
For M5 SHCS +X Adapter Frame Origin +X Customer Interface
Customer Interface
Plate 82
Optional Mounting
Side Pattern
55.125±0.025
34.500±0.025
29.528±0.025 19.685±0.025
-Y +Y -Z +Z +Y -Y
58
23±0.025
30° B.C. 39
36.750±0.025
B.C. 39 Sensing Reference
95
Frame Origin
Tool
6X Tap M5X0.8 6.5 18° Adapter
-X 4X 4 Slip Fit 6.0 Plate 18° -X
Pairs Equally Spaced 4.8 6X Tap M5X0.8 6.5
Customer Interface
Customer Interface Pairs Equally Spaced
IP60 Dust Wrap 36° Typ. Customer Interface
36° Typ.
Mini58 IP60 Transducer Drawing

SPECIFIED.
MILLIMETERS.
Notes: ISOMETRIC VIEW PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
1. Material: Mounting and Tool Adapter made of Aluminum, TITLE
Transducer made of hardened Stainless Steel. DRAWN BY: J. Walser 10/15/2012
2. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE PLATES CHECKED BY: P. Fusco 10/15/2012
Radial Exit Mini58 Transducer, IP60
3. Standard connector (not shown) has 17mm diameter and
is 67.5mm long. PROJECT #
3rd ANGLE PROJECTION 121009-1 SHEET 1 OF 1 1:1 B 9230-05-1437 03
ECO 18264: MOUNTING SIDE: Added "View shows an -R cable
04 TBC 9/9/2019
exit" callout. ALTERNATE CABLE EXIT: Changed from "-E" to "-A".
37.6
17.048±0.025
5.10.13
19.944±0.025
R1 1.3 Sensing Frame
+X Reference Origin +X
Mounting
Adapter
Plate
39
19.685±0.025
29.528±0.025
-Y +Y -Z +Z +Y -Y
34.500±0.025 65.4
9
39
23.022±0.025
9 Sensing Reference
Frame Origin
96
6X Tap M5X0.8 6.5 View shows an 6X Tap M5X0.8 6.9
Pairs Equally Spaced -X -R cable exit -X
SIDE VIEW 2X Slip Fit 4 6 Pairs Equally Spaced
Customer Interface Customer Interface 18° Customer Interface
2X Slip Fit 4 6
36° Customer Interface 36°
Tool Adapter Plate TOOL SIDE
MOUNTING SIDE
Mini58 IP65/IP68 Transducer Drawing

ALTERNATE CABLE EXIT SPECIFIED.
MINI58-A IP65 Tel: +1.919.772.0115 Email: info@ati-ia.com
2. Tool and Mounting Adapters have M5 tapped holes and 4mm dowel pin holes for MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
interfacing. TITLE
DRAWN BY: A Pongor 9/30/13
3. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE PLATES DUE TO Mini58 IP65 / IP68 Tranducer
POTENTIAL DAMAGE. CHECKED BY: P Fusco 9/30/13
5. Cable is IP65 rated only at transducer end. SCALE SIZE DRAWING NUMBER REVISION

5.11 Mini85 Specifications (Includes IP60 Versions)

Fxy ±2800 lbf ±13000 N
Fz ±6100 lbf ±27000 N
Tz ±5400 inf‑lb ±610 Nm
Resonant Frequency
Fx, Fy, Tz 2400 Hz 2400 Hz
Fz, Tx, Ty 3100 Hz 3100 Hz
Diameter1 3.35 in 85.1 mm
Note:

Sensor
Mini85 US‑105‑185 105 210 185 185 1/52 7/260 5/168 1/48
Mini85 US‑210‑370 210 420 370 370 5/128 3/64 5/84 1/24
Mini85 US‑420‑740 420 840 740 740 5/64 3/32 5/42 1/12
Sensor
Mini85 SI‑475‑20 475 950 20 20 9/112 3/28 5/1496 7/2992
Mini85 SI‑950‑40 950 1900 40 40 9/56 3/14 5/748 7/1496
Mini85 SI‑1900‑80 1900 3800 80 80 9/28 3/7 5/374 7/748
Notes:
97

Sensor
Mini85 US‑105‑185 105 210 185 185 1/26 7/130 5/84 1/24
Mini85 US‑210‑370 210 420 370 370 5/64 3/32 5/42 1/12
Mini85 US‑420‑740 420 840 740 740 5/32 3/16 5/21 1/6
Sensor
Mini85 SI‑475‑20 475 950 20 20 9/56 3/14 5/748 7/1496
Mini85 SI‑950‑40 950 1900 40 40 9/28 3/7 5/374 7/748
Mini85 SI‑1900‑80 1900 3800 80 80 9/14 6/7 5/187 7/374
Notes:

Sensor
Mini85 US‑105‑185 ±105 ±210 ±185 10.5 21 18.5
Mini85 US‑210‑370 ±210 ±420 ±370 21 42 37
Mini85 US‑420‑740 ±420 ±840 ±740 42 84 74
Sensor
Mini85 SI‑475‑20 ±475 ±950 ±20 47.5 95 2
Mini85 SI‑950‑40 ±950 ±1900 ±40 95 190 4
Mini85 SI‑1900‑80 ±1900 ±3800 ±80 190 380 8
Note:
98

Sensor Calibration
(/ lbf) (/ lbf‑in) (/ N) (/ Nm)
Mini85 US‑105‑185 / SI‑475‑20 1040 1344 448 11968
Mini85 US‑210‑370 / SI‑950‑40 512 672 224 5984
Mini85 US‑420‑740 / SI‑1900‑80 256 336 112 2992
Mini85 Tool Transform Factor See Tool Transform Factor table

99
5.11.7 Mini85 (US Calibration Complex Loading)(Includes IP60)
US-105-185 US-210-370 US-420-740
100
5.11.8 Mini85 (SI Calibration Complex Loading)(Includes IP60)
SI-475-20 SI-950-40 SI-1900-80
101
02 Initial Drawing JW 9/5/2011

2X 5 Slip Fit 9.0 Frame Origin 23.383±0.025
7.5
13.860±0.025 Customer Interface Cable
(See Note 3) 2X 5 Slip Fit 6.5
Exit +X 40°
(See Note 3)
B.C. 74 40° Typ.

37±0.025
27±0.025
40.500±0.025
-Z +Z 85
-Y +Y +Y -Y
71.306±0.025
Mounting
Adapter 6X Tap M5X0.8 6.5
Plate Pairs Equally Spaced
102
Customer Interface
6X Tap M5X0.8 9.0 (See Note 3)

-X -X
10° 10.3 Tool
Customer Interface Adapter 70° B.C. 54
20° Typ. (See Note 3) Plate
11.5
Sensing Reference
Frame Origin
SIDE VIEW
MOUNTING SIDE
TOOL SIDE
ISOMETRIC VIEW

SPECIFIED.
1. Material: Mounting and Tool Adapter made of aluminum, MILLIMETERS.
Transducer made of hardened stainless steel. PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
2. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE
TITLE
PLATES OR CABLE DUE TO POTENTIAL DAMAGE DRAWN BY: J. Walser 08/04/2011
3. DO NOT EXCEED INTERFACE DEPTH, MAY CAUSE DAMAGE. CHECKED BY: R. Chambers 8/16/11
Mini85 Transducer
5. For best accuracy, transducer must be mounted to surface rigid SCALE SIZE DRAWING NUMBER REVISION
enough to support loads without deflection.
02 Modify drawing format to meet current standard JW 8/30/2011

5.11.10
29.8
2X 5 Slip Fit 9.0 23.383±0.025
13.860±0.025 Customer Interface 7.5
(See Note 3) Cable Sensing Reference
Frame Origin 40°
Exit
+X 2X 5 Slip Fit 6.5 +X
B.C. 74 Customer Interface

(See Note 3)
40° Typ.
37±0.025 +0.127
20 Thru 27±0.025
0
(See Note 4) 40.500±0.025
85
-Y +Y -Z +Z +Y -Y
71.306±0.025
6X Tap M5X0.8 6.5
103
Mounting Pairs Equally Spaced
Adapter Customer Interface
Plate
(See Note 3)
10° -X 6X Tap M5X0.8 9.0 -X
10.3 Tool
Pairs Equally Spaced Adapter 70° B.C. 54
20° Typ. 11.5
Customer Interface Plate
(See Note 3) Sensing Reference
Frame Origin
ISOMETRIC VIEW
Notes: SPECIFIED.
1. Material: Mounting and Tool Adapter made of aluminum, Tel: +1.919.772.0115 Email: info@ati-ia.com
Transducer made of hardened stainless steel. DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
2. WARNING: DO NOT LOOSEN OR REMOVE INTERFACE MILLIMETERS.
PLATES OR CABLE DUE TO POTENTIAL DAMAGE PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
3. DO NOT EXCEED INTERFACE DEPTH, MAY CAUSE DAMAGE
TITLE
4. Do not allow items passing through center hole to touch both the DRAWN BY: R Chambers 2/15/08
Mounting and Tool Adapter Plates or accuracy will be compromised. CHECKED BY: P. Fusco 5/22/08
Mini85 Transducer with 20mm Thru Hole
6. For best accuracy, transducer must be mounted to surface rigid
Mini85 IP60 Transducer with 20 mm Through‑Hole Drawing

5.12 Gamma Specifications (Includes IP60/IP65/IP68 Versions)

5.12.1 Gamma Physical Properties
Table 5.59—Gamma Physical Properties
Fxy ±280 lbf ±1200 N
Fz ±930 lbf ±4100 N
1.0x10 lb/in 1.8x10 7 N/m
Resonant Frequency
Fx, Fy, Tz 1400 Hz 1400 Hz
Fz, Tx, Ty 2000 Hz 2000 Hz
1
1
Note:
5.12.2 Gamma IP60 Physical Properties

Table 5.60—Gamma IP60 Physical Properties
Fxy ±280 lbf ±1200 N
Fz ±930 lbf ±4100 N
Resonant Frequency
Fx, Fy, Tz 1200 Hz 1200 Hz
Fz, Tx, Ty 1200 Hz 1200 Hz
1
1
Note:
104

Fxy ±280 lbf ±1200 N
Fz ±930 lbf ±4100 N
Z‑axis torque (Ktz) 5
Resonant Frequency
Fx, Fy, Tz 1000 Hz 1000 Hz
Fz, Tx, Ty 970 Hz 970 Hz
1
1
Note:

Fxy ±280 lbf ±1200 N
Fz ±930 lbf ±4100 N
Resonant Frequency
Fx, Fy, Tz 1250 Hz 1250 Hz
Note:
105

water at sea level.
Submersion Depth
IP68 Gamma US Metric
Fz preload at 4 m depth ‑42.9 lb ‑191 N

Table 5.63— Gamma Calibrations (excludes CTL calibrations)1, 2
Sensor
Gamma US‑7.5‑25 7.5 25 25 25 1/640 1/320 1/320 1/320
Gamma US‑15‑50 15 50 50 50 1/320 1/160 1/160 1/160
Gamma US‑30‑100 30 100 100 100 1/160 1/80 1/80 1/80
(SI) Metric Fx,Fy Fz3 Tx,Ty Tz Fx,Fy Fz3 Tx,Ty Tz
Sensor
Gamma SI‑32‑2.5 32 100 2.5 2.5 1/160 1/80 1/2000 1/2000
Gamma SI‑65‑5 65 200 5 5 1/80 1/40 10/13333 10/13333
Gamma SI‑130‑10 130 400 10 10 1/40 1/20 1/800 1/800
Notes:
106

Table 5.64— Gamma CTL Calibrations1, 2
Sensor
Gamma US‑7.5‑25 7.5 25 25 25 1/320 1/160 1/160 1/160
Gamma US‑15‑50 15 50 50 50 1/160 1/80 1/80 1/80
Gamma US‑30‑100 30 100 100 100 1/80 1/40 1/40 1/40
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Gamma SI‑32‑2.5 32 100 2.5 2.5 1/80 1/40 1/1000 1/1000
Gamma SI‑65‑5 65 200 5 5 1/40 1/20 5/3333 5/3333
Gamma SI‑130‑10 130 400 10 10 1/20 1/10 1/400 1/400
Notes:

Table 5.65— Gamma Analog Output
Sensor
Gamma US‑7.5‑25 ±7.5 ±25 ±25 0.75 2.5 2.5
Gamma US‑15‑50 ±15 ±50 ±50 1.5 5 5
Gamma US‑30‑100 ±30 ±100 ±100 3 10 10
Tx,Ty,Tz Fx,Fy Fz 2
Tx,Ty,Tz
Sensor
Gamma SI‑32‑2.5 ±32 ±100 ±2.5 3.2 10 0.25
Gamma SI‑65‑5 ±65 ±200 ±5 6.5 20 0.5
Gamma SI‑130‑10 ±130 ±400 ±10 13 40 1
Notes:
107

Sensor Calibration
(/ lbf) (/ lbf‑in) (/ N) (/ Nm)
Gamma US‑7.5–25 / SI‑32–2.5 2560 2560 640 8000
Gamma US‑15–50 / SI‑65–5 1280 1280 320 5333.33
Gamma US‑30–100 / SI‑130–10 640 640 160 3200
Gamma Tool Transform Factor See Tool Transform Factor table

Gamma US‑7.5–25 / SI‑32–2.5 0.01 in/lbf 0.8 mm/N
Gamma US‑15–50 / SI‑65–5 0.01 in/lbf 0.6 mm/N
Gamma US‑30–100 / SI‑130–10 0.01 in/lbf 0.y h5 mm/N
.
108
Help
Gamma
5.12.10 Gamma (US Calibration Complex Loading)
(Includes IP60/IP65/IP68)1
US-7.5-25 US-15-50 US-30-100

109
Help
5.12.11 Gamma
Gamma (SI Calibration Complex Loading)
SI-32-2.5 SI-65-5 SI-130-10

110
02 Combination Drawing for DAQ and NET CCS 1/20/2010

5.12.12
Customer machines 33.3

mounting pattern Mounting
as needed in plate. Adapter 28.6 Sensing Reference
Remove plate prior Plate Frame Origin 16 H7 3.6 6 Slip Fit 5.6
to machining. 28 1.0 x 45 Chamfer Customer Interface
+X Customer Interface +X (See Note 3)
B.C. 50
30° 25±0.025
-Y +Y 75.4 -Z +Z 60 74
+Y -Y
45°
111
54.8 -X -X (4) Tap M6 x 1.0 5.6
DAQ System Tool Equally Spaced
58.3 Adapter Customer Interface
25.5 Plate (See Note 3)
Net System
DAQ System 0.8 19.8
Sensing Reference
Frame Origin
32.8 SIDE VIEW
Net System
TOOL SIDE
Gamma DAQ/Net Transducer Drawing
Connector for Cable

Varies Depending on
Sensor Selected
MOUNTING SIDE

DO NOT SCALE DRAWING. DRAWN IN SOLIDWORKS. Tel: +1.919.772.0115 Email: info@ati-ia.com
ISOMETRIC VIEW ISO 9001 Registered Company
PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY MANNER
Notes: EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
1. Material: Aluminum. DRAWN BY: TITLE
D. Swanson 11/05/08
2. Do Not Touch internal electronics or instrumentation
this could damage the transducer and will void the warranty. CHECKED BY: Gamma Transducer
R. Chambers 11/06/08
3. DO NOT EXCEED INTERFACE DEPTH, MAY CAUSE DAMAGE. SCALE SIZE DRAWING NUMBER REVISION
WEIGHT LBS:
-----------
4. Transducer must be mounted to surfaces rigid enough 1:1 B 9230-05-1329 02
to support loads without deflection for best accuracy. PRODUCT RELEASE # DATE: SHEET 1 OF 1
08 Eco 17923; Updated M3 hole depth. JPL 5/10/2019
28.6 6 Slip Fit 5.6

Customer Interface
28 Sensing Reference (See Note 4)
Frame Origin
5.12.13
4.7Max
16 H7 3.6
3 Dowel Pin Chamfer 1.0 x 45 Sensing Reference
+X 68 B.C. Customer Interface +X Frame Origin
(8) Tap M3-0.5 6
Equally Spaced
Customer Interface
34±0.025 EXPOSED CIRCUITRY

IN THIS AREA 25±0.025
DO NOT TOUCH 22.5°
-Y +Y 74 60
-Z +Z
+Y -Y
21
45° 50 B.C.
61 H7 FIT 1.3 Right-Angle

Chamfer .63 x 45 Connector
Customer Interface -X -X
112
(See Note 4)
(4) Tap M6 x 1.0 5.6
29.5 Equally Spaced
Tool Adaptor Customer Interface
Plate (See Note 4)
SIDE VIEW
3.8
ISOMETRIC VIEW
DO NOT SCALE DRAWING. DRAWN IN SOLIDWORKS. Tel: +1.919.772.0115 Email: info@ati-ia.com
NOTES: ISO 9001 Registered Company
1. Material: Aluminum. PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY MANNER
2. Do not touch internal electronics or instrumentation. This could EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
damage transducer and will void the warranty. DRAWN BY: TITLE
B. Digeso 3/3/00
3. DO NOT EXCEED INTERFACE DEPTH, MAY CAUSE DAMAGE. CHECKED BY: Gamma Transducer without Mounting Adapter
4. For best accuracy, transducer must be mounted to a surface D. Norton 7/15/05
rigid enough to support loads without deflection. WEIGHT LBS:
1:1 B 9230-05-1103 08
9105‑T‑Gamma Transducer without Mounting Adapter Drawing
05 ECO 9076: Removed finish spec LTF 2/2/2012

5.12.14
ISOMETRIC VIEW
SCALE 2:3
M3 x 8 SFHCS, M3 x 10,
4.7
Slip Fit for Grade 10.9 Dowel Pin

3 Dowel Pin
113
61 Ref
CL 75.4
Boss
Transducer with
1.3 Gamma Mounting Mounting Adapter
Gamma Mounting Adapter Plate Drawing
8X Countersink holes for Adapter Plate Gamma Transducer

M3 SFHCS

SPECIFIED.
Notes: MILLIMETERS.
1. Material: High-Tensile Aluminum TITLE
DRAWN BY: C. Flesock, 3/16/2009
2. Mounting Adapter: Customer to machine plate as required for mounting.
Supplied with 8X M3 x 8 SFHCS, Grade 10.9 and 1X M3 x 10 Dowel Pin, CHECKED BY: P. Fusco, 3/17/2009
Gamma Mounting Adapter
DIN 6325. 61 Boss and 3 Dowel Pin used for locating to
Gamma Transducer. SCALE SIZE DRAWING NUMBER REVISION

03 Added Net dimensions RKC 5/13/2009

Eco 15243; Corrected dim 39.66, 32.66, 6mm and 5mm dowels,
04 updated notes RTD 1/27/2017
16° 39.66
(4) 6.8 Thru
38.105±0.025 For M6 SHCS 4.7 Neoprene
5.12.15
Equally Spaced Rubber

+X Dust Jacket 6 Slip Fit 8.5
Tool Adapter
Plate
25±0.025
(4) Tap M6X1.0 7

66±0.025
Equally Spaced
44±0.025 Customer Interface
120° B.C. 50
-Z +Z
-Y +Y +Y -Y
73.4
61° 16 H7 3.5
1.0x45 Chamfer
Customer Interface
74
114
2X 5 Slip Fit Thru Mounting
Customer Interface Adapter Plate -X
-X
Sensing Reference 99
50.2 Frame Origin
DAQ System
Gamma IP60 Transducer Drawing
32.66
B.C. 88 Net System Sensing Reference
58.6
Net System 38.5 Frame Origin
DAQ System
SIDE VIEW
Connector For Cable
Varies Depending on
Sensor Selected
SPECIFIED.
ISOMETRIC VIEW MILLIMETERS.
1. Material: Stainless Steel and Aluminum
TITLE
2. Sensing Reference Frame Origin at surface center of Tool Adapter. DRAWN BY: R. Chambers 6/25/08
3. Do not disassemble transducer. Doing so could damage transucer CHECKED BY: P.Fusco 6/26/08
IP60 Gamma Transducer
and will void warranty.
4. For best accuracy, transducer must be mounted to a surface rigid SCALE SIZE DRAWING NUMBER REVISION
enough to support loads without deflection. PROJECT # SHEET OF
3rd ANGLE PROJECTION 080602-1 1 1 1:1 B 9230-05-1335 04
03 Added Net Dimensions. ALH 8/8/2008
04 Eco 16104; Added TWL Dimensions RTD 9/18/2017
B.C. 63 31.021±0.025 (4) Tap M6X1 8.5

52.2 Equally Spaced 6 Slip Fit 6
5.12.16
(4) Tap M6X1 7 (2) 4 Slip Fit 6 46.7 Customer Interface +X Customer Interface
Equally Spaced +X Customer Interface 45°
Frame Origin
B.C. 98 25±0.025
(4) 6.6 Thru 85.6

For M6 SHCS
Equally Spaced B.C. 50

45° Customer Interface
Optional Mounitng
Side Pattern
-Z +Z +Y -Y
-Y +Y
100°
36.970±0.025 78.7
31.500±0.025
45° 111
115
Frame Origin
-X 6.5
63.3 -X
75.2 Mux, DAQ & TWL 16 H7 6
Net System System
Chamfer 0.6 x 45
82.2 70.7 Customer Interface
44.2
Mux, DAQ & TWL Net System
System SIDE VIEW TOOL SIDE
MOUNTING SIDE Connector for Cable

Varies Depending on
Notes: Sensor Selected
1. Material: Aluminum and Stainless Steel NOTES: UNLESS OTHERWISE 1031 Goodworth Drive, Apex, NC 27539, USA
2. Sensing Reference Frame Origin at SPECIFIED.
surface center of Tool Adapter. DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
3. Do not disassemble transducer. Doing so ALL DIMENSIONS ARE IN ISO 9001 Registered Company
could damage transducer and will void MILLIMETERS.
warranty. MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
4. For best accuracy, transducer must be TITLE
DRAWN BY: P. Fusco 12/15/06
mounted to surfaces rigid enough to support
loads without deflection. CHECKED BY: D. Swanson 12/18/06
IP65 Gamma Transducer
5. Cable must be connected to Transducer to
maintain proper seal. SCALE SIZE DRAWING NUMBER REVISION
6. Cable is IP65 rated only at Transducer End. ISOMETRIC VIEW PROJECT # SHEET OF
3rd ANGLE PROJECTION 060612-1 1 1 1:1 B 9230-05-1307 04
01 Initial Release RTD 11/23/2016
4X 6.6 Thru
5.12.17
For M6 SHCS
Equally Spaced
Customer Interface
Optional Mounting
Side Pattern 6 Slip Fit 6
Customer Interface
31.021±0.025 52.2
4X Tap M6X1 7 16 H7 6
Equally Spaced +X 5.5 46.7 +X

45° Chamfer 0.6 X 45
Customer Interface B.C. 98.0 78.7 Customer Interface
Mounting Adapter 25.000±0.025
B.C. 63.0 111.0 Plate 85.6
2X 4 Slip Fit 6
Frame Origin
100°
+Y -Z +Z +Y
-Y 135° DC Power -Y
36.970±0.025 Tool Adapter
Plate
Sensing Reference
Ring Terminal Frame Origin
45° (For Optional
Earth Ground
116
31.500±0.025 Connection) 4X Tap M6X1 8.5
-X EtherCAT -X Equally Spaced
LED Indicators Customer Interface
B.C. 50.0
68.3
75.2 Pressure Equilization Vent, IP65
44.3 7.9
1.4
MOUNTING SIDE EtherCAT SIDE VIEW TOOL SIDE

(Optional PoE)
ECAT Gamma IP65 Transducer Drawing

SPECIFIED.
Notes: MILLIMETERS.
1. Material: Aluminum and Stainless Steel MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
2. Sensing Reference Frame Origin at surface center of Tool Adapter. TITLE
DRAWN BY: R.Dupree 11/21/16
3. Do not disassemble transducer. Doing so could damage transducer and will void warranty.
4. For best accuracy, transducer must be mounted to a surface rigid enough to support loads CHECKED BY: A.Glusiec 11/22/16
IP65 Gamma Transducer with EtherCAT Electronics
without deflection.
5. Cables must be connected to transducer to mantain proper seal. SCALE SIZE DRAWING NUMBER REVISION
6. Cables are IP65 rated only at transducer end. 3rd ANGLE PROJECTION PROJECT # 160919-1 SHEET 1 OF 2 1:2 B 9230-05-1508 01
- See Sheet1 - -
Pin No. Signal Pin No. Signal

1 V+ 1 TX+
3 GND 2 RX+
4 N/C 3 TX-
4 RX-
Shell Connector Block

Housing
117
DC Power Connector
3-Pin Male M8 EtherCAT Connector D-Coded
4-Pin Female M12 D-Coded

SPECIFIED.
MILLIMETERS.
TITLE
ISOMETRIC VIEW DRAWN BY: R.Dupree 11/21/16
CHECKED BY: A.Glusiec 11/22/16
IP65 Gamma Transducer with EtherCAT Electronics

01 Initial Drawing JW 9/29/2011
02 Eco 16104; Added TWL dimensions RTD 9/18/2017

B.C. 63
31.021±0.025 4X Tap M6X1 8.5
52.2
4X Tap M6X1 7 Equally Spaced
5.12.18
46.7 Customer Interface 6 Slip Fit 6

Equally Spaced 45° Customer Interface
Customer Interface +X +X
B.C. 98 Sensing Reference
Frame Origin
2X 4 Slip Fit 6 25±0.025
Customer Interface
4X 6.6 Thru 85.6
45°
For M6 SHCS
Equally Spaced B.C. 50
Customer Interface
Optional Mounting
Side Pattern
+Y -Z +Z +Y
-Y -Y
100° 36.970±0.025 78.7

31.500±0.025
45°
118
111
Frame Origin
-X -X
62.7 16 H7 6
75.2 Mux, DAQ & TWL Chamfer 0.6 x 45
Net System System Customer Interface
82.2 69.8 44.2 6.5

Mux, DAQ & TWL Net System
System SIDE VIEW TOOL SIDE
MOUNTING SIDE
Notes: Connector for Cable Varies
1. Material: Stainless Steel Depending on Sensor Selected
2. Sensing Reference Frame Origin at
surface center of Tool Adapter. NOTES: UNLESS OTHERWISE 1031 Goodworth Drive, Apex, NC 27539, USA
3. Do not disassemble transducer. Doing so SPECIFIED.
could damage transducer and will void DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
warranty. ALL DIMENSIONS ARE IN ISO 9001 Registered Company
4. For best accuracy, transducer must be MILLIMETERS.
mounted to surfaces rigid enough to support MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
loads without deflection. TITLE
DRAWN BY: J. Walser 9/29/2011
5. Cable must be connected to Transducer to IP68 Gamma Transducer
maintain proper seal. CHECKED BY: R. Chambers 9/30/11
6. Cable is only IP68 rated only at Transducer
End. Transducer is IP68 rated in freshwater SCALE SIZE DRAWING NUMBER REVISION
environment at a depth of up to 4 meters. ISOMETRIC VIEW 3rd ANGLE PROJECTION PROJECT # 101214-3 SHEET 1 OF 1 1:1 B 9230-05-1386 02
5.13 Delta Specifications (Includes IP60/IP65/IP68 Versions)

5.13.1 Delta Physical Properties
Table 5.68—Delta Physical Properties
Fxy ±840 lbf ±3700 N
Fz ±2300 lbf ±10000 N
Tz ±3600 inf‑lb ±400 Nm
3.4x10 lb/in 5.9x10 7 N/m
Resonant Frequency
Fx, Fy, Tz 1500 Hz 1500 Hz
Fz, Tx, Ty 1700 Hz 1700 Hz
1
1
Note:
5.13.2 Delta IP60 Physical Properties

Table 5.69—Delta IP60 Physical Properties
Fxy ±840 lbf ±3700 N
Fz ±2300 lbf ±10000 N
Tz ±3600 inf‑lb ±400 Nm
Resonant Frequency
Fx, Fy, Tz 1100 Hz 1100 Hz
Fz, Tx, Ty 1100 Hz 1100 Hz
Weight1 4 lb 1.81 kg
1
1
Note:
119

Fxy ±840 lbf ±3700 N
Fz ±2300 lbf ±10000 N
Tz ±3600 inf‑lb ±400 Nm
Resonant Frequency
Fx, Fy, Tz 880 Hz 880 Hz
1
1
Note:

Fxy ±840 lbf ±3700 N
Fz ±2300 lbf ±10000 N
Tz ±3600 inf‑lb ±400 Nm
Resonant Frequency
Diameter1 4 in 102 mm
Note:
120

water at sea level.
Submersion Depth
IP68 Delta US Metric
Fz preload at 10 m depth 161 lb 716 N
Fz preload at other depths ‑4.9 lb/ft × depthInFeet ‑72 N/m × depthInMeters

Table 5.72— Delta Calibrations (excludes CTL calibrations)1, 2
Sensor
Delta US‑50‑150 50 150 150 150 1/128 1/64 3/128 1/64
Delta US‑75‑300 75 225 300 300 1/64 1/32 3/64 1/32
Delta US‑150‑600 150 450 600 600 1/32 1/16 3/32 1/16
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Delta SI‑165‑15 165 495 15 15 1/32 1/16 1/528 1/528
Delta SI‑330‑30 330 990 30 30 1/16 1/8 5/1333 5/1333
Delta SI‑660‑60 660 1980 60 60 1/8 1/4 10/1333 10/1333
Notes:
121

Table 5.73— Delta CTL Calibrations1, 2
Sensor
Delta US‑50‑150 50 150 150 150 1/64 1/32 3/64 1/32
Delta US‑75‑300 75 225 300 300 1/32 1/16 3/32 1/16
Delta US‑150‑600 150 450 600 600 1/16 1/8 3/16 1/8
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Delta SI‑165‑15 165 495 15 15 1/16 1/8 1/264 1/264
Delta SI‑330‑30 330 990 30 30 1/8 1/4 10/1333 10/1333
Delta SI‑660‑60 660 1980 60 60 1/4 1/2 5/333 5/333
Notes:

Table 5.74— Delta Analog Output
Sensor
Delta US‑50‑150 ±50 ±150 ±150 5 15 15
Delta US‑75‑300 ±75 ±225 ±300 7.5 22.5 30
Delta US‑150‑600 ±150 ±450 ±600 15 45 60
(SI) Metric Fx,Fy Fz2 Tx,Ty,Tz Fx,Fy Fz2 Tx,Ty,Tz
Sensor
Delta SI‑165‑15 ±165 ±495 ±15 16.5 49.5 1.5
Delta SI‑330‑30 ±330 ±990 ±30 33 99 3
Delta SI‑660‑60 ±660 ±1980 ±60 66 198 6
Notes:

Sensor Calibration
(/ lbf) (/ lbf‑in) (/ N) (/ Nm)
Delta US‑7.5–25 / SI‑32–2.5 512 512 128 2112
Delta US‑15–50 / SI‑65–5 256 256 64 1066.67
Delta US‑30–100 / SI‑130–10 128 128 32 533.333
Delta Tool Transform Factor 0.01 in/lbf 0.6 mm/N
122
Help
Delta
5.13.9 Delta (US Calibration Complex Loading)(Includes IP60/IP65/IP68)1
US-50-150 US-75-300 US-150-600

123
Document #9620-05-Transducer Section‑26 Delta
5.13.10 Delta (SI Calibration Complex Loading)(Includes IP60/IP65/IP68)1
SI-165-15 SI-330-30 SI-660-60

124
ECO 12940; Added 6mm to " Slip Fit 5.6 Customer
04 Interface (See Note 3)" callout; Added diameter symbol to TBC 6/1/2015
92 dimension; Removed 1.0 x 45 from 16 H7 3.6.
Mounting Adapter 33.3
Customer machines Plate Sensing Reference
mounting pattern as Frame Origin
needed in plate. 28.6 Sensing Reference 6 Slip Fit 5.6
Frame Origin
5.13.11
Remove plate Customer Interface

prior to machining. +X 28
+X (See Note 3)
B.C. 50
30° 25±0.025
-Y +Y -Z +Z 73 +Y -Y
94.5 92
125
63.5
DAQ System -X
-X
25.4 1.2 19.1 Tool Adapter 4X Tap M6X1.0 5.6
66.9 DAQ System Equally Spaced
Plate
Net System 16 H7 3.6 Customer Interface
32.8 Customer Interface (See Note 3)
Net System
Delta DAQ/Net Transducer Drawing
SIDE VIEW TOOL SIDE

Connector for Cable
Varies Depending on
Sensor Selected
MOUNTING SIDE

SPECIFIED.
ISOMETRIC VIEW DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
MILLIMETERS.
1. Material: Hardened Stainless Steel and Aluminum. TITLE
2. Do not touch internal electronics or instrumentation. DRAWN BY: R. Chambers 11/6/08
This could damage the transducer and will void the warranty. CHECKED BY: P. Fusco 12/5/08
Delta Transducer
enough to support loads without deflection. 3rd ANGLE PROJECTION PROJECT # SHEET 1 OF 1 1:1 B 9230-05-1330 04
06 ECO 9037: Delete overload pins JW 10/11/2011

28.6
6X Tap M5X0.8 8
Equally Spaced 28
5 Dowel Pin Customer Interface 4.7 Max Sensing Reference
+X Frame Origin +X 6 Slip Fit 5.6
5.13.12
Customer Interface
(See Note 4)
16 H7 3.6
41.500±0.025
Chamfer 1.0 x 45
Customer Interface
EXPOSED CIRCUITRY 25±0.025

IN THIS AREA
DO NOT TOUCH
+Y -Z +Z +Y -Y
-Y 73
92
45° 50 B.C.
83 B.C. 18.5
Note: Mux transducers are used in F/T Controller systems.

-X Tool Adapter Plate Sensing Reference
Right-Angle -X Frame Origin
74 H7 1.3 Connector
126
Chamfer .63 x 45
29.5
Customer Interface
(See Note 4) 4X Tap M6X1.0 5.6
3.8 Equally Spaced
SIDE VIEW Customer Interface
MOUNTING SIDE (See Note 4) TOOL SIDE
ISOMETRIC VIEW

SPECIFIED.
1. Material: Hardened Stainless Steel. ALL DIMENSIONS ARE IN ISO 9001 Registered Company
2. Do not touch internal electronics or instrumentation. This could MILLIMETERS.
damage transducer and will void warranty. PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
3. Tool Side RING-PLUG Option Moves Origin. See TITLE
9230-05-1059 for Position. DRAWN BY: C. Sturgis 01/28/10
4. DO NOT EXCEED INTERFACE DEPTH, MAY CAUSE DAMAGE. CHECKED BY: P. Fusco 01/28/10
Delta Transducer without Mounting Adapter
5. For best accuracy, transducer must be mounted to a surface rigid
enough to support loads without deflection. SCALE SIZE DRAWING NUMBER REVISION
9105‑T‑Delta Transducer without Mounting Adapter Drawing
05 Eco 10296; Updated Transducer Body without overload pins. CF 10/26/2012
5.13.13
ISOMETRIC VIEW
SCALE 2:3
Slip Fit for
5 Dowel Pin M5 x 10 SFHCS, M5 x 10,
4.7 Grade 10.9 Dowel Pin
127
74 Ref
94.5
CL Boss
Delta Mounting Adapter Drawing
1.3
Transducer with
Delta Mounting Mounting Adapter
Adapter Delta Transducer
6X Countersink holes for
M5 SFHCS

SPECIFIED.
MILLIMETERS.
1. Material: High-Tensile Aluminum MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
2. Finish: Soft Black Anodize TITLE
3. Mounting Adapter: Customer to machine plate as required for mounting. Delta Mounting Adapter
Supplied with (6) M5 x 10 SFHCS, Grade 10.9 and (1) M5 x 10 Dowel Pin, CHECKED BY: P. Fusco, 6/22/2009
DIN 6325. 74 Boss and 5 Dowel Pin used for locating to Delta Transducer.

Mounting Adapter Plate 47.1 06 Eco 16391; Dim 47.1 was 46.7 (assembly mate issue). LJH 3/11/2014
B.C. 63 11.4
Neoprene
27.280±0.025 Rubber
B.C. 106.7 +X Dust Jacket 6 Slip Fit 10 +X 94.6
Customer Interface
5.13.14
4X Tap M6 X 1.0 7.6

Equally Spaced
Customer Interface 25±0.025
16 H7, 6
117 Chamfer 1.0X45
45° Customer Interface
Tool Adapter
Plate
47.250±0.025
-Y +Y
-Z +Z
+Y -Y
120°
45° 31.500±0.025
4X 6.7 Thru
128
For M6 SHCS
Equally Spaced
4X Tap M6X1.0 10
Customer Interface
-X Equally Spaced
Optional Mounting -X 58.4 Customer Interface
Side Pattern
Delta IP60 Transducer Drawing
MUX & DAQ

84.7 System B.C. 50
2X 6 Slip Fit 6.35
Customer Interface 67.2 Sensing Reference
45.2 Frame Origin
Net System Sensing Reference
Frame Origin
Connector For Cable
Varies Depending on SIDE VIEW TOOL SIDE
Sensor Selected
MOUNTING SIDE

SPECIFIED.
MILLIMETERS.
Notes: MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
1. Material: Stainless Steel and Aluminum TITLE
DRAWN BY: P.Sparrow, 2/13/06
2. Sensing Reference Frame Origin at Surface Center of Tool Adapter.
3. Do not disassemble transducer. Doing so could damage transducer CHECKED BY: -
IP60 Delta Transducer
enough to support loads without deflection. ISOMETRIC VIEW 3rd ANGLE PROJECTION PROJECT # SHEET 1 OF 1 1:1 B 9230-05-1262 06
01 Initial Release RTD 12/5/2016

5.13.15
4X 6.7 Thru
For M6 SHCS
Equally Spaced
Customer Interface
Optional Mounting 27.280±0.025
Side Pattern
47.1
2X 6 Slip Fit 6 6 Slip Fit 6
4X Tap M6 9.2 Customer Interface 11.4 35.7
Equally Spaced Tool Customer Interface
+X 45° +X
Customer Interface Adapter
Mounting Plate 4X Tap M6X1.0 9.8 16 H7 5.8
Adapter Equally Spaced Chamfer 1.0 X 45
116.8 Plate
B.C. 63
-Y 92
+Y -Z +Z +Y -Y
47.250±0.025
B.C. 106.7 Ring Terminal DC Power
(For Optional
Earth Ground Sensing Reference Sensing Reference
Connection) Frame Origin Frame Origin
129
31.500±0.025 120°
45° -X
72.1 B.C. 50
EtherCAT
-X 45.2 LED Indicators
1.9 EtherCAT 94.6
84.7
(Optional PoE)
ECAT Delta IP60 Transducer Drawing

SPECIFIED.
MILLIMETERS.
TITLE
2. Sensing Reference Frame Origin at surface center of Tool Adapter. DRAWN BY: R.Dupree 12/2/16
3. Do not disassemble transducer. Doing so could damage transducer and will void warranty. CHECKED BY: A.Glusiec 12/5/16
IP60 DeltaTransducer with EtherCAT Electronics
4. For best accuracy, transducer must be mounted to a surface rigid enough to support loads
without deflection. SCALE SIZE DRAWING NUMBER REVISION

- See Sheet1 - -

1 V+ 1 TX+
3 GND 2 RX+
4 N/C 3 TX-
4 RX-
Shell Connector Block
Housing
DC Power Connector
3-Pin Male M8
D-Coded
130
EtherCAT Connector

SPECIFIED.
MILLIMETERS.
TITLE
DRAWN BY: R.Dupree 12/2/16
ISOMETRIC VIEW CHECKED BY: A.Glusiec 12/5/16
IP60 DeltaTransducer with EtherCAT Electronics

64.678±0.025 04 EC9399: Changed to flanged MAP RKC 1/23/2012
05 Eco 10139; Added Dowel callout to TAP side. LJH 9/13/2012

49.796±0.025 Mounting Adapter
4X Tap M6X1.0 7.6 Plate 6.7
Equally Spaced 4X Tap M6X1.0 8.5 B.C. 50 6 Slip Fit 6.35
27.280±0.025 Equally Spaced Customer Interface
Customer Interface
5.13.16
+X Customer Interface +X
2X 6 Slip Fit 6.35
Customer Interface 25±0.025
Tool Adapter
Plate
2X 6 Slip Fit Thru
B.C. 63
Customer Interface
45°
28.750±0.025
15.750±0.025
84.290±0.025 -Z +Z
-Y +Y +Y -Y
Membrane
47.250±0.025 45° Vent
B.C. 115
126
103.6
131
-X -X
Mux & DAQ Sensing Reference
4X 6.8 Thru 84.2 Frame Origin Frame Origin
For M6 SHCS Net System System
44.5
Equally Spaced 70.5 16 H7 6.35

Customer Interface 91.2 Net System Chamfer 1 x 45
Optional Mounting 52.2 Customer Interface
Mux & DAQ
Side Pattern System
TOOL SIDE
SIDE VIEW
Connector For Cable
Varies Depending on
Sensor Selected
MOUNTING SIDE
ISOMETRIC VIEW
SPECIFIED.
1. Material: Stainless Steel and Aluminum ALL DIMENSIONS ARE IN ISO 9001 Registered Company
2. Sensing Reference Frame Origin at Surface Center of Tool Adapter. MILLIMETERS.
3. Do not disassemble transducer. Doing so could damage transducer MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
and will void warranty. TITLE
enough to support loads without deflection. CHECKED BY: D. Norton, 2/17/06
IP65 Delta Transducer
5. Cable must be connected to transducer to maintain proper seal.
6. Cable is IP65 rated only at transducer end.
01 Initial Drawing LCS 4/16/2015
4X Tap M6X1.0 7.6 64.678±0.025

Equally Spaced Mounting Adapter
49.796±0.025 Plate
Customer Interface 6 Slip Fit 6.35
5.13.17
6.7 4X Tap M6X1.0 8.5 B.C. 50

27.280±0.025 Equally Spaced Customer Interface
+X Customer Interface +X
2X 6 Slip Fit 6.35
Customer Interface
25±0.025
B.C. 63 2X 6 Slip Fit Thru Tool Adapter
Customer Interface Plate
45°
84.290±0.025 28.750±0.025
15.750±0.025
-Z +Z -Y
-Y +Y +Y
47.250±0.025 DC Power
45°
B.C. 115 126

103.6
132
Ring Terminal Sensing Reference
68.5 (For Optional Frame Origin -X Sensing Reference
4X 6.8 Thru -X Frame Origin
Earth Ground
For M6 SHCS 84.2 Connection)
Equally Spaced 16 H7 6.3
Membrane Vent Chamfer 1 x 45
Customer Interface
Optional Mounting 44.5 Customer Interface
Side Pattern EtherCAT
EtherCAT LED Indicators
(Optional PoE) 52.2
ECAT Delta IP65 Transducer Drawing

SPECIFIED.
MILLIMETERS.
1. Material: Stainless Steel and Aluminum TITLE
DRAWN BY: L. Strahler 4/16/15
2. Sensing Reference Frame Origin at Surface Center of Tool Adapter.
3. Do not disassemble transducer. Doing so could damage transducer and will void warranty. CHECKED BY: P. Fusco 4/17/15
9105-ECAT-Delta-IP65 Customer Drawing
4. For best accuracy, transducer must be mounted to a surface rigid enough to support loads
A. Strotzer 4/21/15
without deflection. SCALE SIZE DRAWING NUMBER REVISION
5. Cables must be connected to transducer to maintain proper seal. 3rd ANGLE PROJECTION PROJECT # 140328-5 SHEET 1 OF 2 4:5 B 9230-05-1469 01
Pin No. Signal
Pin No. Signal
1 TX+
1 V+
2 RX+
3 GND
3 TX-
4 N/C
4 RX-
Shell Connector Block Housing
DC Power Connector
3-Pin Male M8
EtherCAT Connector D-Coded

133
SPECIFIED.
MILLIMETERS.
TITLE
DRAWN BY: L. Strahler 4/16/15
ISOMETRIC VIEW
9105-ECAT-Delta-IP65 Customer Drawing
A. Strotzer 4/21/15

ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI. 02 Updated model link. PS 3/4/2006
+X 6 H7, 6.35
B.C. 63
52.2 (4) TAP M6X1 8.89 Customer Interface
5.13.18
27.280±0.012 +X
101.60 Equally Spaced
Customer Interface
(2) 6 H7, 6.35 25.000 0.012
Customer Interface
Sensing Reference
Frame Origin
45°
Typ B.C. 50
-Z +Z
-Y +Y +Y -Y
120°
[ref]
47.250±0.012
96.5
31.500±0.012 45°
Typ
134
-X 16 H7, 6.35
(4) TAP M6X1 7.62 1.4 Chamfer 1 x 45
Equally Spaced -X Customer Interface
6.4
Customer Interface 61
Frame Origin
44.2
Connector for Cable
Varies Depending on
Sensor Selected
NOTES:
1. MATERIAL: Stainless Steel
2. Sensing Reference frame origin at NOTES: UNLESS OTHERWISE SPECIFIED
surface center of tool adapter. DO NOT SCALE DRAWING. DRAWN IN SOLIDWORKS.
3. Do not disassemble transducer. Doing so ALL DIMENSIONS ARE IN MILLIMETERS. Tel: +1.919.772.0115 Email: info@ati-ia.com
could damage transducer and void warranty. Fax: +1.919.772.8259 www.ati-ia.com
4. For best accuracy, transducer must be ISO 9001 Registered Company
mounted to surfaces rigid enough to support
loads without deflection. DRAWN BY: TITLE
P.Sparrow, 2/16/06
5. Cable must be connected to Transducer to IP68-10m DELTA Transducer
CHECKED BY:
maintain proper seal. D.Norton, 2/17/06
6. Cable is only IP68 rated at Transducer End. Transducer WEIGHT LBS:
5.8 1:1 B 9230-05-1272-02
is IP68 rated in freshwater environment at a depth of ISOMETRIC VIEW 3rd ANGLE PROJECTION ASSEMBLY REF:
up to 10 meters. PRODUCT RELEASE # DATE: SHEET 1 OF 1
5.14 Theta Specifications (Includes IP60/IP65/IP68 Versions)

5.14.1 Theta Physical Properties
Table 5.76—Theta Physical Properties
Fxy ±4500 lbf ±20000 N
Fz ±11000 lbf ±51000 N
Txy ±18000 inf‑lb ±2000 Nm
Tz ±18000 inf‑lb ±2000 Nm
6.9x10 lb/in 1.2x10 8 N/m
Resonant Frequency
1
1
Note:
5.14.2 Theta IP60 Physical Properties

Table 5.77—Theta IP60 Physical Properties
Fxy ±4500 lbf ±20000 N
Fz ±11000 lbf ±51000 N
Txy ±18000 inf‑lb ±2000 Nm
Tz ±18000 inf‑lb ±2000 Nm
Resonant Frequency
Fx, Fy, Tz N/A N/A
Fz, Tx, Ty N/A N/A
1
1
Note:
135
5.14.3 Theta IP65/IP68 Physical Properties

Table 5.78—Theta IP65/IP68 Physical Properties
Fxy ±4500 lbf ±20000 N
Fz ±11000 lbf ±51000 N
Txy ±18000 inf‑lb ±2000 Nm
Tz ±18000 inf‑lb ±2000 Nm
Resonant Frequency
Fx, Fy, Tz N/A N/A
Fz, Tx, Ty N/A N/A
Weight1 19.8 lb 9 kg
1
1
Note:

water at sea level.
Submersion Depth
IP68 Theta US Metric
Fz preload at other depths ‑13 lb/ft × depthInFeet ‑191 N/m × depthInMeters
136

Table 5.79— Theta Calibrations (excludes CTL calibrations)1, 2
Sensor
Theta US‑200‑1000 200 500 1000 1000 1/32 1/16 1/8 1/8
Theta US‑300‑1800 300 875 1800 1800 5/68 5/34 5/16 5/16
Theta US‑600‑3600 600 1500 3600 3600 1/8 1/4 1/2 1/2
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Theta SI‑1000‑120 1000 2500 120 120 1/4 1/4 1/40 1/80
Theta SI‑1500‑240 1500 3750 240 240 1/2 1/2 1/20 1/40
Theta SI‑2500‑400 2500 6250 400 400 1/2 1 1/20 1/20
Notes:

Table 5.80— Theta CTL Calibrations1, 2
Sensor
Theta US‑200‑1000 200 500 1000 1000 1/16 1/8 1/4 1/4
Theta US‑300‑1800 300 875 1800 1800 5/34 5/17 5/8 5/8
Theta US‑600‑3600 600 1500 3600 3600 1/4 1/2 1 1
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Theta SI‑1000‑120 1000 2500 120 120 1/2 1/2 1/20 1/40
Theta SI‑1500‑240 1500 3750 240 240 1 1 1/10 1/20
Theta SI‑2500‑400 2500 6250 400 400 1 2 1/10 1/10
Notes:
137

Table 5.81— Theta Analog Output
Sensor
Theta US‑200‑1000 ±200 ±500 ±1000 20 50 100
Theta US‑300‑1800 ±300 ±875 ±1800 30 87.5 180
Theta US‑600‑3600 ±600 ±1500 ±3600 60 150 360
Tx,Ty,Tz Fx,Fy Fz 2
Tx,Ty,Tz
Sensor
Theta SI‑1000‑120 ±1000 ±2500 ±120 100 250 12
Theta SI‑1500‑240 ±1500 ±3750 ±240 150 375 24
Theta SI‑2500‑400 ±2500 ±6250 ±400 250 625 40
Notes:

Sensor Calibration
(/ lbf) (/ lbf‑in) (/ N) (/ Nm)
Theta US‑200–1000 / SI‑1000–120 128 64 32 320
Theta US‑300–1800 / SI‑1500–240 54.4 12.8 16 160
Theta US‑600–3600 / SI‑2500–400 32 16 16 80
Theta Tool Transform Factor See Tool Transform Factor table

Theta US‑200–1000 / SI‑1000–120 0.02 in/lbf 1 mm/N
138
Theta
5.14.9 Theta (US Calibration Complex Loading)(Includes IP60/IP65/IP68)1
US-200-1000 US-300-1800 US-600-3600

139
Document #9620-05-Transducer Section‑26 Theta
5.14.10 Theta (SI Calibration Complex Loading)(Includes IP60/IP65/IP68)1
SI-1000-120 SI-1500-240 SI-2500-400

140
04 Eco 9230; Corrected typo; "depending" LJH 12/7/11

5.14.11
Customer machines
mounting pattern Sensing Reference
61.1 Frame Origin
as needed in plate. Mounting Adapter 10.013
Remove plate prior Plate 49.1 9.995 Slip Fit 11.5
to machining. Sensing Reference
Frame Origin +X Customer Interface
+X 46.6 (See Note 3)
B.C. 100
30° 50±0.025
155 -Z +Z 129
-Y +Y +Y -Y
25.4
DAQ System
4X Tap M12X1.75 11.5
141
95.5 32.8
Net System 1.2 Equally Spaced
DAQ System -X -X Customer Interface
19.1 Tool Adapter 40 H7 9.8
Plate (See Note 3)
97.8 1.0 x 45 Chamfer
Net System Customer Interface
SIDE VIEW TOOL SIDE
Connector for Cable

Theta DAQ/Net Transducer Drawing
Varies Depending on
Sensor Selected
MOUNTING SIDE

SPECIFIED.
Notes: MILLIMETERS.
1. Material: Hardened Stainless Steel. MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
2. Do Not Touch internal electronics or instrumentation. TITLE
DRAWN BY: R Chambers 11/12/08
This could damage the transducer and will void the warranty. Theta Transducer

07 Eco 9037: Delete overload pins JW 10/11/2011
130 H7 Fit 1.3

Chamfer .50X45
(See Note 3) Sensing Reference 10 Slip Fit 12
5.14.12
46.6 Frame Origin Customer Interface

6 Dowel Pin.
(See Note 3)
12 Max 100 B.C.
+X 4X Tap M12 x 1.75 11.5 +X
8X Tap M6X1.0 7 40 H7 9.8
Equally Spaced Equally Spaced
Customer Interface Chamfer 1.27X45
(See Note 3)
70±0.0025
EXPOSED CIRCUITRY 22.50° 50±0.025
IN THIS AREA 155 129
DO NOT TOUCH
-Y +Y -Z +Z +Y -Y
45°
18.5
29.5
Sensing Reference
Frame Origin
140 B.C. -X Tool Adapter Plate
142
-X
3.8 SIDE VIEW TOOL SIDE

MOUNTING SIDE
Right Angle
Connector
ISOMETRIC VIEW

SPECIFIED.
MILLIMETERS.
1. Material: Hardened Stainless Steel. PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
2. Do not touch internal electronics or instrumentation. This could MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
TITLE
damage the transducer and will void the warranty. DRAWN BY: B. Digeso 3/3/00
3. DO NOT EXCEED INTERFACE DEPTH, MAY CAUSE DAMAGE. Theta Transducer without Mounting Adapter Plate
CHECKED BY: D. Norton 7/15/05
4. For best accuracy, the transducer must be mounted to a surface rigid

9105‑T‑Theta Transducer without Mounting Adapter Drawing
05 Eco 10296; Changed Grade of M6 x 12 SHCS from 10.9 to CF 10/25/2012

12.9; Updated Transducer Body without overload pins.
5.14.13
ISOMETRIC VIEW
SCALE 1:2.5
M6 x 12 SHCS M6 x 12
Slip Fit for Grade 12.9 Dowel Pin

6 Dowel Pin 12.0
143
CL 130 Ref
155
Boss
Theta Mounting Adapter Plate Drawing
6.35 Thru 1.0 Transducer with

Theta Mounting Mounting Adapter
Adapter Theta Transducer
8X Counterbore holes for
M6 SHCS

SPECIFIED.
Notes: MILLIMETERS.
1. Material: 303 Stainless Steel TITLE
2. Mounting Adapter: Customer to machine plate as required for mounting. Theta Mounting Adapter
Supplied with (8) M6 x 12 SHCS, Grade 12.9 and (1) M6 x 12 Dowel Pin, CHECKED BY: P. Fusco, 6/22/2009
DIN 6325. 130 Boss and 6 Dowel Pin used for locating to Theta Transducer.

ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI. 03 Added Net Dimensions ALH 8/7/08
77.942±0.025 Eco 7255; Dim from center to limits of connector block
04 canged to 124mm from 132mm after connector block LJH 9/4/2009
44.194±0.025 components changed.
(2) 10 Slip Fit 8 Neoprene
(7) 8.7 Thru Rubber
For M8 SHCS Customer Interface Tool
Dust Jacket
5.14.14
Equally Spaced 193.7 Adapter Plate

Customer Interface (6) Tap M10x1.5 10
Equally Spaced 10 Slip Fit 15
Optional Mounting +X Customer Interface
Side Pattern 74 155 Customer Interface
+X
62.500±0.025 Mounting
Adapter Plate
B.C. 100
45±0.025 50±0.025
-Z
135°
-Y +Y
+Z
+Y -Y
B.C. 125
40 H7, 15
124
Customer Interface
131.933±0.025 45°
45°
144
106.694±0.025
15° -X
B.C. 180 57.8
-X
Theta IP60 Transducer Drawing
135° Mux & DAQ 0.6 Sensing Reference

System Frame Origin Sensing Reference
(2) 8 Slip Fit 12 Connector For Cable 54.6 (4) Tap M12x1.75 15
Frame Origin
Customer Interface Varies Depending on 70.4 Equally Spaced
Sensor Selected Net System Customer Interface
101.236±0.025
SIDE VIEW TOOL SIDE

MOUNTING SIDE
NOTES: UNLESS
OTHERWISE SPECIFIED Tel: +1.919.772.0115 Email: info@ati-ia.com
Notes: DO NOT SCALE DRAWING. ISO 9001 Registered Company
DRAWN IN SOLIDWORKS.
1. Material: Stainless Steel and Aluminum ALL DIMENSIONS ARE
2. Do not touch internal electronics or instrumentation. DRAWN BY: TITLE
IN MILLIMETERS. P.Sparrow, 2/16/06
This could damage the transducer and will void warranty. IP60 Theta Transducer
CHECKED BY:
3. Sensing Reference Frame Origin at surface center of Tool Adapter. D.Norton, 2/17/06
ISOMETRIC VIEW WEIGHT LBS:
4. For best accuracy, transducer must be mounted to surfaces rigid 19
enough to support loads without deflection. 1:2 B 9230-05-1263-04
ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI. 01 Initial Issue PS 2/16/2006
02 Added Net Dimensions ALH 8/8/2008
Mounting Adapter Plate Tool Adapter

10 Slip Fit 14
Plate
Customer Interface
5.14.15
44.194±0.025
162.8
74.79 Sensing Reference B.C. 100
B.C. 125 Frame Origin
62.500±0.025 +X +X
Sensing Reference 157.48
Frame Origin
(6) Tap M10X1.5 11
Equally Spaced
60° 50±0.025
(135°)
+Y -Y
-Z +Z
-Y +Y
40.025
14
39.990
Membrane Customer Interface
Vent
45°
145
-X
123.2 61.6 -X
Mux & DAQ 2.40
Mux & DAQ
System System 44.20 27.94 (4) Tap M12X1.75 15
(2) 10 Slip Fit 8 Equally Spaced
Customer Interface
Net System
103.1 SIDE VIEW
Net System TOOL SIDE
MOUNTING SIDE
Connector For Cable

Notes: Varies Depending on NOTES: UNLESS 1031 Goodworth Drive, Apex, NC 27539, USA
1. Material: Stainless Steel Sensor Selected OTHERWISE SPECIFIED Tel: +1.919.772.0115 Email: info@ati-ia.com
2. Sensing Reference Frame Origin at Fax: +1.919.772.8259 www.ati-ia.com
DO NOT SCALE DRAWING.
surface center of Tool Adapter. DRAWN IN SOLIDWORKS. ISO 9001 Registered Company
3. Do not disassemble transducer. Doing so ALL DIMENSIONS ARE
could damage transducer and will void warranty. IN MILLIMETERS.
DRAWN BY: TITLE
4. For best accuracy, transducer must be mounted to P.Sparrow, 2/16/06
IP65 Theta Transducer
surfaces rigid enough to support loads without deflection. CHECKED BY:
D.Norton, 2/17/06
5. Cable must be connected to transducer to ISOMETRIC VIEW SCALE SIZE DRAWING NUMBER
WEIGHT LBS:
maintain proper seal. 20 1:1.5 B 9230-05-1268-02
6. Cable is IP65 rated only at transducer end. 3rd ANGLE PROJECTION ASSEMBLY REF:
04 EC10640: Ad Net System details to the drawing JW 02/05/2013
44.194±0.025 10 Slip Fit 14

Customer Interface
5.14.16
162.8 Mounting Adapter Tool Adapter

106.694±0.025 Plate Plate
+X 74.8
+X B.C. 100
Sensing Reference
62.500±0.025 Frame Origin 157.48
6X Tap M10X1.5 11
Equally Spaced
Customer Interface
60° 50.000 0.025
135°
-Z +Z
-Y +Y +Y -Y
Sensing Reference
Frame Origin
B.C. 125
45°
146
-X 61 2.4 4X Tap M12X1.75 15
-X
Mux & DAQ Equally Spaced
116.2 System Customer Interface
2X 10 Slip Fit 8 Net System 28.2
Customer Interface 70 40.025
44.2 14
Net System 39.990
123.2
Mux & DAQ SIDE VIEW Customer Interface
System TOOL SIDE
Connector for Cable
Varies Depending on
Sensor Selected
MOUNTING SIDE
SPECIFIED.
1. Material: Stainless Steel ALL DIMENSIONS ARE IN ISO 9001 Registered Company
2. Sensing Reference Frame Origin at surface center of Tool Adapter. MILLIMETERS.
3. Do not disassemble transducer. Doing so could damage transducer MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
and will void warranty. TITLE
4. For best accuracy, transducer must be mounted to surfaces rigid IP68-10m THETA Transducer
enough to support loads without deflection. ISOMETRIC VIEW CHECKED BY: D. Norton 2/17/06
5. Cable must be connected to transducer to maintain proper seal.
6. Cable is IP68 rated only at transducer end. Transducer is IP68 rated SCALE SIZE DRAWING NUMBER REVISION
in freshwater environment at a depth of up to 10 meters. 3rd ANGLE PROJECTION PROJECT # SHEET 1 OF 1 1:1.5 B 9230-05-1273 04
5.15 Omega85 Specifications (Includes IP60/IP65/IP68 Versions)

5.15.1 Omega85 Physical Properties
Table 5.84—Omega85 Physical Properties
Fxy ±2800 lbf ±13000 N
Fz ±6100 lbf ±27000 N
Tz ±5400 inf‑lb ±610 Nm
6.8x10 lb/in 1.2x10 8 N/m
Resonant Frequency
Fx, Fy, Tz 2100 Hz 2100 Hz
Fz, Tx, Ty 3000 Hz 3000 Hz
1
1
Note:
5.15.2 Omega85 IP65/IP68 Physical Properties

Table 5.85—Omega85 IP65/IP68 Physical Properties
Fxy ±2800 lbf ±13000 N
Fz ±6100 lbf ±27000 N
Tz ±5400 inf‑lb ±610 Nm
Resonant Frequency
Fx, Fy, Tz N/A N/A
Fz, Tx, Ty N/A N/A
1
1
Note:
147

water at sea level.
Submersion Depth
IP68 Omega85 US Metric
Fz preload at other depths ‑3.9 lb/ft × depthInFeet ‑57 N/m × depthInMeters

Table 5.86— Omega85 Calibrations (excludes CTL calibrations)1, 2
Sensor
Omega85 US‑105‑185 105 210 185 185 1/52 3/130 3/112 1/48
Omega85 US‑210‑370 210 420 370 370 5/128 3/64 3/56 1/24
Omega85 US‑420‑740 420 840 740 740 5/64 3/32 3/28 1/12
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Omega85 SI‑475‑20 475 950 20 20 1/14 3/28 5/1496 7/2992
Omega85 SI‑950‑40 950 1900 40 40 1/7 3/14 5/748 7/1496
Omega85 SI‑1900‑80 1900 3800 80 80 2/7 3/7 5/374 7/748
Notes:
NOTICE: The Omega85 does not support an on‑board mux board, therefore it cannot be used with the F/T
Controller. For Controller F/T systems we recommend the Mini85.
148
Document #9620-05-Transducer Section‑26 Omega85
5.15.4 Omega85 (US Calibration Complex Loading)(Includes IP65/IP68)1
US-105-185 US-210-370 US-420-740

149
Help
Omega85
5.15.5 Omega85 (SI Calibration Complex Loading)(Includes IP65/IP68)1
SI-475-20 SI-950-40 SI-1900-80

150
03 ECO 9072: Add Net System connector block outline to JW 10/25/2011

Side View
2X 5 Slip Fit 11 33.4

Customer Interface
(See Note 4) 2X 5 Slip Fit 6.5
Tool Customer Interface
13.860±0.025 Adapter 23.383±0.025
19.5 (See Note 4)
Mounting Plate
+X B.C. 74 Adapter +X
Plate B.C. 54
37±0.025
27±0.025
40.500±0.025
+Y -Z +Z 85 -Y
71.306±0.025 -Y +Y
60.1
Sensing Reference
Frame Origin
69.5°
6X Tap M5X0.8 6.5

-X Pairs Equally Spaced -X
6X Tap M5X0.8 11
151
Pairs Equally Spaced Customer Interface Sensing Reference
5.15.6 Omega85 Transducer Drawing
31.7 (See Note 4) Frame Origin

Customer Interface
(See Note 4) DAQ System
14 20°
44.2 DAQ System
Net System 18.3 40°
Net System Typ.
Connector For Cable
Varies Depending On SIDE VIEW
Sensor Selected 10° TOOL SIDE
20°
Typ.
MOUNTING SIDE
ISOMETRIC VIEW

SPECIFIED.
1. Material: Hardened stainless steel and aluminum. MILLIMETERS.
2. Sensing Reference Frame Origin at surface center of Tool Adapter. MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
3. Do not disassemble transducer. Doing so TITLE
DRAWN BY: D. Swanson 8/28/08
could damage transducer and will void warranty. Omega85 Transducer
5. For best accuracy, transducer must be mounted to surfaces
rigid enough to support loads without deflection. SCALE SIZE DRAWING NUMBER REVISION

03 Eco 2929; P80 was Magnalube. JHS 12/9/2003

Note 7 3 Eco 5722; Added Connector Orientation View.
04 Replaced 3500-1958005-21 with 3500-1958005-12. CF 8/15/2007
Created Sheet 2. Updated Notes and Title Block.
Eco 8548; Replaced 3410-0001087-01, 3700-20-2194, &
3700-20-2218 with 9005-20-1111. Changed fasteners
05 3500-106040-12 & 3500-1058010-12 to -15A. Added CF 5/9/2011
Torque & Loctite specs. Updated Notes & Title Block.
1 Note 6
2 Pre / 24 in-oz
222 / 24 in-oz 4 Connector Orientation

5
Magnalube
O-Ring
152
6
Connector Orientation View
5.15.7 Omega85 IP65 Transducer Drawing
8 ITEM NO. QTY. PART NUMBER DESCRIPTION

1 1 1510-2313002-15 Tri-Start TVP00RW-15-15SC
2 4 3500-1058010-15A M3 x 10mm SHCS MB, ND Microspheres
3 4 3500-1062040-15A M4 x 40mm SHCS MB w/Microspheres
4 1 3500-1958005-12 M3 X 5 Set screw
5 1 3540-0101062-21 1/16 Dowel Pin S.S.
6 1 3700-20-2219 C19 Tool Housing
Notes: 7 1 4010-0000031-01 Bendix Gasket
1. Use 26 ga wire. Strip end for crimp socket just enough (.25") 8 1 9005-20-1111 19 Pin Tool Pin Block SubAssy
so that bare wire is concealed inside of pin. NOTES: UNLESS OTHERWISE 1031 Goodworth Drive, Apex, NC 27539, USA
SPECIFIED.
2. Crimp setting for crimp pin must be setting "3". Tel: +1.919.772.0115 Email: info@ati-ia.com
3. Use no heat shrink on crimp sockets. DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
4. Sockets come connected. ALL DIMENSIONS ARE IN ISO 9001 Registered Company
MILLIMETERS.
5. Connector is rated for 3 AMPS 250 V PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
6. Trim pigtails of connector to 2-1/2" before soldering. MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
TITLE
7. If Mounting on QC, apply Loctite 222 and Torque to 25 in-lbs. If DRAWN BY: B. Digeso, 4/19/01
module is to be placed in inventory, bag dry loose fasteners. C15C Tool Module Assembly
CHECKED BY: J. Snape, 4/23/01
3rd ANGLE PROJECTION PROJECT # - SHEET 1 OF 2 1:1 B 9120-C15C-T 05

2X 5 Slip Fit 9 38.7

13.860±0.025 23.383±0.025
Customer Interface
Tool 5
Mounting 2X Slip Fit 8
+X Adapter +X 5
Adapter Plate Customer Interface
B.C. 74 Plate
Sensing Reference
Frame Origin
37±0.025
27±0.025 92.7
-Z +Z
-Y +Y +Y -Y
71.306±0.025
69.5° 40.500±0.025
85.9
B.C. 54
Sensing Reference
Frame Origin
6X Tap M5X0.8 8
153
Customer Interface
6X Tap M5X0.8 9
Customer Interface
68.9 -X
Connector for Cable -X DAQ System
Varies Depending on 20°
Sensor Selected 37.2 40°
79.9
10° Typ
Net System
SIDE VIEW
TOOL SIDE
20°
Typ
MOUNTING SIDE NOTES: UNLESS OTHERWISE 1031 Goodworth Drive, Apex, NC 27539, USA
SPECIFIED.
ISOMETRIC VIEW ALL DIMENSIONS ARE IN ISO 9001 Registered Company
2. Sensing Reference Frame Origin at surface center of Tool Adapter. PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
3. Do not disassemble transducer. Doing so could damage the transducer
TITLE
and will void warranty. DRAWN BY: R. Chambers 6/29/11
4. For best accuracy, transducer must be mounted to surfaces rigid enough CHECKED BY: D. Swanson 6/29/11
IP68 Omega85 Transducer
to support loads without deflection.
5. Cable must be connected to transducer to maintain proper seal. SCALE SIZE DRAWING NUMBER REVISION
6. Cable is only IP68 rated at transducer end.

Fxy ±3900 lbf ±18000 N
Fz ±11000 lbf ±48000 N
Txy ±15000 inf‑lb ±1700 Nm
Tz ±17000 inf‑lb ±1900 Nm
6.8x10 lb/in 1.2x10 8 N/m
Resonant Frequency
Fx, Fy, Tz 1300 Hz 1300 Hz
Fz, Tx, Ty 1000 Hz 1000 Hz
1
1
Note:
5.16.2 Omega160 IP160 Physical Properties (Includes ECAT)

Table 5.88—Omega160 IP160 Physical Properties
Fxy ±3900 lbf ±18000 N
Fz ±11000 lbf ±48000 N
Txy ±15000 inf‑lb ±1700 Nm
Tz ±17000 inf‑lb ±1900 Nm
Resonant Frequency
Fx, Fy, Tz 1100 Hz 1100 Hz
Fz, Tx, Ty 1000 Hz 1000 Hz
1
1
Note:
154

Fxy ±3900 lbf ±18000 N
Fz ±11000 lbf ±48000 N
Txy ±15000 inf‑lb ±1700 Nm
Tz ±17000 inf‑lb ±1900 Nm
Resonant Frequency
Fx, Fy, Tz 1200 Hz 1200 Hz
1
1
Note:

water at sea level.
Submersion Depth
155

Sensor
Omega160 US‑200‑1000 200 500 1000 1000 1/32 1/16 1/8 1/8
Omega160 US‑300‑1800 300 875 1800 1800 5/68 5/34 5/16 5/16
Omega160 US‑600‑3600 600 1500 3600 3600 1/8 1/4 1/2 1/4
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Omega160 SI‑1000‑120 1000 2500 120 120 1/4 1/4 1/40 1/80
Omega160 SI‑1500‑240 1500 3750 240 240 1/4 1/2 1/20 1/40
Omega160 SI‑2500‑400 2500 6250 400 400 1/2 3/4 1/20 1/20
Notes:

Table 5.91— Omega160 CTL Calibrations1, 2
Sensor
Omega160 US‑200‑1000 200 500 1000 1000 1/16 1/8 1/4 1/4
Omega160 US‑300‑1800 300 875 1800 1800 5/34 5/17 5/8 5/8
Omega160 US‑600‑3600 600 1500 3600 3600 1/4 1/2 1 1/2
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Omega160 SI‑1000‑120 1000 2500 120 120 1/2 1/2 1/20 1/40
Omega160 SI‑1500‑240 1500 3750 240 240 1/2 1 1/10 1/20
Omega160 SI‑2500‑400 2500 6250 400 400 1 1 1/2 1/10 1/10
Notes:
156

Table 5.92— Omega160 Analog Output
Sensor
Omega160 US‑200‑1000 ±200 ±500 ±1000 20 50 100
Omega160 US‑300‑1800 ±300 ±875 ±1800 30 87.5 180
Omega160 US‑600‑3600 ±600 ±1500 ±3600 60 150 360
(SI) Metric Fx,Fy Fz Tx,Ty,Tz Fx,Fy Fz 2
Tx,Ty,Tz
Sensor
Omega160 SI‑1000‑120 ±1000 ±2500 ±120 100 250 12
Omega160 SI‑1500‑240 ±1500 ±3750 ±240 150 375 24
Omega160 SI‑2500‑400 ±2500 ±6250 ±400 250 625 40
Notes:

Sensor Calibration
(/ lbf) (/ lbf‑in) (/ N) (/ Nm)
Omega160 US‑200–1000 / SI‑1000–120 128 64 32 320
Omega160 US‑300–1800 / SI‑1500–240 54.4 12.8 16 160
Omega160 US‑600–3600 / SI‑2500–400 32 16 16 80
Omega160 Tool Transform Factor See Tool Transform Factor table

Omega160 US‑200–1000 / SI‑1000–120 0.02 in/lbf 1 mm/N
157
Help
Omega160
US-200-1000 US-300-1800 US-600-3600

158
Help
Omega160
SI-1000-120 SI-1500-240 SI-2500-400

159
Eco 7882; Changed dowel hole depth on customer
08 interface from 12 to 10; Added B.C. 100 dimension. CF 7/19/2010
Updated Notes and Title Block.
60°
5.16.11
18.12±0.013
(9) Tap M6 x 1.0 30
Sets of 3 Equally Spaced
Customer Interface 12 Tool 10 Slip Fit 10
30° Adapter +X
(See Note 4) +X Customer Interface
Plate (See Note 3)
Sensing Reference
140 B.C. Frame Origin 40 H7 10
50±0.013 (See Note 3)
156.5
EXPOSED CIRCUITRY
-Y IN THIS AREA +Y -Z +Z +Y -Y
DO NOT TOUCH
49.50±0.013 45°
Right Angle (4) Tap M10 x 1.5 10
Connector Equally Spaced B.C. 100
Customer Interface
29.5 (See Note 3)
(2) 6 Dowel Pin
160
-X
7.49 -X Sensing Reference
3.8
43.94
16.7
SIDE VIEW
ISOMETRIC VIEW

SPECIFIED.
1. Material: Hardened Stainless Steel and Aluminum DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
2. Do not touch internal electronics or instrumentation. MILLIMETERS.
This could damage the transducer and will void the warranty. PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY MANNER
TITLE
4. No threads present first 13mm of interface. DRAWN BY: B. Digeso 3/7/00
5. For best accuracy, transducer must be mounted to surfaces rigid enough CHECKED BY: D. Norton 7/15/05
Omega160 Mux without Mounting Adapter Plate
Omega160 Transducer without Mounting Adapter Drawing

05 Eco 16115; Removed press fit dowel callout. LJH 1/9/2018
Customer machines
mounting pattern as Mounting Tool 2X 10 Slip Fit 10
5.16.12
Adapter 55.9 Adapter Customer Interface

needed in plate. +X
Remove plate prior Plate 43.9 Plate (See Note 2)
to machining. +X
45°
4X Tap M10 x 1.5 10

Sensing Reference B.C. 100
Frame Origin Equally Spaced
Customer Interface
Sensing Reference (See Note 2)
Frame Origin
-Y +Y 156.5 -Z +Z +Y -Y
96
38.6 Right Angle

Connector 53 Thru
-X -X (See Notes 3 & 5)
19.4
161
15°
8.9
45° SIDE VIEW TOOL SIDE
MOUNTING SIDE
ISOMETRIC VIEW

Notes: SPECIFIED.
Omega160 Transducer with 53 mm Through Hole
1. Material: Hardened Stainless Steel and Aluminum. DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
2. DO NOT EXCEED INTERFACE DEPTH, MAY CAUSE DAMAGE. ALL DIMENSIONS ARE IN ISO 9001 Registered Company
3. Do not touch internal electronics or instrumentation. This could MILLIMETERS.
damage the transducer and will void warranty. MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
4. For best accuracy, transducer must be mounted to a surface rigid TITLE
5. Do not allow items passing through center hole to contact transducer. CHECKED BY: R. Chambers, 12/14/11
TIF Omega160 Transducer with 53mm Thru Hole
Contact will affect reading accuracy.

Eco 7882; Changed Tap hole size on customer
09 interface holes from M12 to M10. Updated Notes. CF 7/19/2010
Updated Title Block.
10 Eco 15263; Eliminated limit dim on 10mm dowel LJH 1/24/2017
callout.
Mounting
Adapter 55.9
5.16.13
Customer machines Plate Tool

mounting pattern in 43.9 Adapter 10 Slip Fit 10
plate as needed. Plate +X Customer Interface
Remove plate prior +X
to machining. (See Note 3)
40 H7 10
Customer Interface
(See Note 3) B.C. 100

156.5 50±0.013
-Y +Y -Z +Z +Y -Y
Sensing Reference
45° Frame Origin

38.6
DAQ System (4) Tap M10 x 1.5 10
Equally Spaced
Customer Interface
(See Note 3)
-X Sensing Reference -X
12.2
96 Frame Origin
162
DAQ System
TOOL SIDE
96.6 14.7
Net System 44.8 DAQ System 19.1
Net System
Net System
SIDE VIEW
MOUNTING SIDE
ISOMETRIC VIEW

SPECIFIED.
1. Material: Hardened Stainless Steel and Aluminum DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
2. Do not touch internal electronics or instrumentation. ALL DIMENSIONS ARE IN ISO 9001 Registered Company
MILLIMETERS.
This could damage the transducer and will void the warranty. PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY MANNER
3. DO NOT EXCEED INTERFACE DEPTH, MAY CAUSE DAMAGE. EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
TITLE
4. For best accuracy, transducer must be mounted to surfaces rigid enough DRAWN BY: J.Snape 1/9/02
Omega160 Transducer with Mounting Adapter Drawing
to support loads without deflection. Omega160 DAQ/Net w/ Mtg Adapter Plate

CHECKED BY: DP 1/9/02

ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI. 04 Added Net Dimensions ALH 8/7/2008
76.547±0.025 Eco 7255; Dim from center to limit of connector block
05 changed to 124mm from 132mm as a result of LJH 9/4/2009
(2) 10 Slip Fit 10 connector block component changes.
16.176±0.025 Customer Interface 10 Slip Fit 11
(14) 8.7 Thru
5.16.14
57.7 156.5
For M8 SHCS
15° 15° Optional Mounting +x
+X (4) Tap M10 x 1.5
Side Pattern 40 H7f 12 15
Neoprene
B.C. 180 Rubber Customer Interface Equally Spaced
60° Dust Jacket Customer Interface
Mounting
Adapter Plate
Tool
Adapter Plate
120° 45.002±0.025 50±0.025
-Y 45° +Y -Z +Z
+Y -Y
124 131.941±0.025 Sensing Reference

Frame Origin
B.C. 125
45° Typ B.C. 100
163
8° Typ
193.7
-X 135° 57.8 -X
(6) Tap M10x1.5 10 Mux & DAQ
15° System 3
Equally Spaced 57 Sensing Reference
Connector For 70.4
Cable Varies Net System
Depending on
Omega160 IP60 Transducer Drawing
Sensor Selected SIDE VIEW TOOL SIDE

(2) 8 Slip Fit 12
101.242±0.025
MOUNTING SIDE

NOTES: UNLESS Tel: +1.919.772.0115 Email: info@ati-ia.com
OTHERWISE SPECIFIED
DO NOT SCALE DRAWING. ISO 9001 Registered Company
Notes: DRAWN IN SOLIDWORKS.
1. Material: Stainless Steel and Aluminum ALL DIMENSIONS ARE DRAWN BY: TITLE
2. Sensing Reference Frame Origin at Surface Center of Tool Adapter. IN MILLIMETERS. P.Sparrow, 2/16/06
3. Do not touch internal electronics or instrumentation. CHECKED BY:
ISOMETRIC VIEW D.Norton, 2/17/06
This could damage the transducer and will void warranty. SCALE SIZE DRAWING NUMBER
WEIGHT LBS:
4. For best accuracy, transducer must be mounted to surfaces rigid 17
1:2 B 9230-05-1264-05
enough to support loads without deflection. 3rd ANGLE PROJECTION ASSEMBLY REF:
6X M10 x 1.5 10
Equally Spaced 01 Initial Issue KHS 07/24/2015
14X 8.700 Thru
Customer Interface For M8 SHCS
2X 10mm Slip Fit 8
Customer Interface
Customer Interface 10mm Slip Fit 12
Optional Mounting
76.5±0.025 Side Pattern Customer Interface
5.16.15
B.C. 180 16.176±0.025 4X Tap M10 x 1.5

Mounting Adapter 40 H7 12 16
Plate 57.7 Customer Interface 45° Equally Spaced
B.C. 125 +X Customer Interface
Neoprene +X
76.547±0.025 78.1 Rubber
Dust Jacket
126 193.7
6X 45° Tool Adapter

Plate
50±0.025
7X 8°
-Y +Y
-Z +Z +Y
-Y
DC Power Sensing Reference
Frame Origin
45.002±0.025
Ring Terminal B.C. 100
131.941±0.025 (For Optional
8.8 Earth Ground
Connection)
60.370±0.025
164
2X 8mm Slip Fit 11.9
Customer Interface -X -X 156.5
EtherCAT
LED Indicators
77.947±0.025 3 Sensing Reference
50.8
EtherCAT
(Optional PoE) 8.8 SIDE VIEW TOOL SIDE
MOUNTING SIDE
ECAT Omega160 IP60 Transducer Drawing

SPECIFIED.
MILLIMETERS.
1. Material: Stainless Steel and Aluminum MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
TITLE
2. Sensing Reference Frame Origin at Surface Center of Tool Adapter. DRAWN BY: K. Schnatter 7/22/2015
3. Do not disassemble transducer. Doing so could damage transducer and will void warranty. ECAT Omega160-IP60 Transducer
4. For best accuracy, transducer must be mounted to a surface rigid enough to support loads without
deflection.

1 V+ 1 TX+
3 GND 2 RX+
4 N/C 3 TX-
4 RX-
Shell Connector Block Housing
DC Power Connector D-Coded

3 pin Male M8
EtherCAT Connector
4 pin Female M12 D-Coded
165
SPECIFIED.
MILLIMETERS.
ISOMETRIC VIEW MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
TITLE
DRAWN BY: K. Schnatter 7/22/2015
ECAT Omega160-IP60 Transducer

ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI. 01 Initial Issue PS 2/16/2006
02 Added Net Dimensions ALH 8/8/2008
76.547±0.025 Sensing Reference

Mounting Adapter Frame Origin 10 Slip Fit 16
5.16.16

Plate Tool Adapter
Plate
157.5
165 65.91
76.547±0.025 +X +X
B.C. 100
40 H7 20
Customer Interface
124.5
120° Mux & DAQ
System 50±0.025
-Y +Y 117.5
Net System -Z +Z
+Y -Y
45°
Membrane Sensing Reference
Vent Frame Origin
15°
45°
166
(2) 10 Slip Fit 10
Customer Interface
-X -X
15° 63.3 6.22
B.C. 125 (6) Tap M8X1.25 12 Mux & DAQ (4) Tap M10X1.5 15
Equally Spaced System 15.24 Equally Spaced

Net System
TOOL SIDE
Connector for Cable

Varies Depending on
Sensor Selected
Notes: NOTES: UNLESS 1031 Goodworth Drive, Apex, NC 27539, USA
1. Material: Stainless Steel OTHERWISE SPECIFIED Tel: +1.919.772.0115 Email: info@ati-ia.com
2. Sensing Reference Frame Origin at Fax: +1.919.772.8259 www.ati-ia.com
surface center of Tool Adapter. DO NOT SCALE DRAWING.
DRAWN IN SOLIDWORKS. ISO 9001 Registered Company
3. Do not disassemble transducer. Doing so ALL DIMENSIONS ARE
could damage transducer and will void warranty. IN MILLIMETERS.
DRAWN BY: TITLE
4. For best accuracy, transducer must be mounted to P.Sparrow, 2/16/06
surfaces rigid enough to support loads without deflection. IP65 Omega160 Transducer
CHECKED BY:
D.Norton, 2/17/06
5. Cable must be connected to transducer to SCALE SIZE DRAWING NUMBER
WEIGHT LBS:
maintain proper seal. 16 1:1.5 B 9230-05-1269-02
6. Cable is IP65 rated only at transducer end. ISOMETRIC VIEW 3rd ANGLE PROJECTION ASSEMBLY REF:
ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI. 02 Updated model link. PS 3/4/2006
Sensing
76.547±0.012 Reference
Frame Origin
5.16.17
16.176±0.012 10 H7, 16
Customer Interface
15°
+X [ref] 65.9 40 H7, 20 +X
15° 165 Customer Interface
B.C. 100
60° B.C. 125
Typ
49.999 0.012
Sensing
Reference
60.370±0.012 Frame Origin 45°
120° Typ
[ref]
76.547±0.012 124.5
-Y +Y -Z +Z
+Y -Y
157.5
167
(2) 10 H7, 10
Customer Interface -X 6.2 -X (4) TAP M10X1.5 15.2
61 Equally Spaced
(6) TAP M8X1.25 12.7 Customer Interface

Equally Spaced 44.2 15.2
Customer Interface
Connector for Cable SIDE VIEW TOOL SIDE
Varies Depending on
NOTES: MOUNTING SIDE Sensor Selected
2. Sensing Reference frame origin at
surface center of tool adapter. NOTES: UNLESS OTHERWISE SPECIFIED
3. Do not disassemble transducer. Doing so DO NOT SCALE DRAWING. DRAWN IN SOLIDWORKS.
could damage transducer and void warranty. ALL DIMENSIONS ARE IN MILLIMETERS. Tel: +1.919.772.0115 Email: info@ati-ia.com
4. For best accuracy, transducer must be Fax: +1.919.772.8259 www.ati-ia.com
mounted to surfaces rigid enough to support ISO 9001 Registered Company
loads without deflection.
5. Cable must be connected to Transducer to DRAWN BY: TITLE
P.Sparrow, 2/16/06
maintain proper seal. IP68-10m OMEGA160 Transducer
CHECKED BY:
6. Cable is only IP68 rated at Transducer End. D. Norton, 2/17/06
ISOMETRIC VIEW SCALE SIZE DRAWING NUMBER
Transducer is IP68 rated in freshwater environment WEIGHT LBS:
16
1:1.5 B 9230-05-1274-02
at a depth of up to 10 meters. 3rd ANGLE PROJECTION ASSEMBLY REF:

Fxy ±8000 lbf ±36000 N
Fz ±25000 lbf ±110000 N
Txy ±60000 lbf‑in ±6800 Nm
Tz ±60000 lbf‑in ±6800 Nm
X‑axis & Y‑axis forces (Kx, Ky) 1.4x106 lb/in 2.4x108 N/m
Z‑axis force (Kz) 2.1x106 lb/in 3.6x108 N/m
X‑axis & Y‑axis torque (Ktx, Kty) 1.4x107 lbf‑in/rad 1.5x106 Nm/rad
Z‑axis torque (Ktz) 2.8x107 lbf‑in/rad 3.2x106 Nm/rad
Resonant Frequency
Fx, Fy, Tz N/A N/A
Fz, Tx, Ty N/A N/A
Note:
5.17.2 Omega190 IP60 Physical Properties

Fxy ±8000 lbf ±36000 N
Fz ±25000 lbf ±110000 N
Txy ±60000 lbf‑in ±6800 Nm
Tz ±60000 lbf‑in ±6800 Nm
X‑axis & Y‑axis forces (Kx, Ky) 1.4x106 lb/in 2.4x108 N/m
Z‑axis force (Kz) 2.1x106 lb/in 3.6x108 N/m
Resonant Frequency
Fx, Fy, Tz 1200 Hz 1200 Hz
Fz, Tx, Ty 1200 Hz 1200 Hz
Note:
168

Fxy ±8000 lbf ±36000 N
Fz ±25000 lbf ±110000 N
Txy ±60000 lbf‑in ±6800 Nm
Tz ±60000 lbf‑in ±6800 Nm)
X‑axis & Y‑axis forces (Kx, Ky) 1.4x106 lb/in 2.4x108 N/m)
2.1x10 lb/in 3.6x108 N/m
Resonant Frequency
Fx, Fy, Tz 1400 Hz 1400 Hz
1
1
Note:

water at sea level.
Submersion Depth
169

Sensor
Omega190 US‑400‑3000 400 1000 3000 3000 5/64 5/32 15/32 5/16
Omega190 US‑800‑6000 800 2000 6000 6000 5/32 5/16 15/16 5/8
Omega190 US‑1600‑12000 1600 4000 12000 12000 5/16 5/8 1 7/8 1 1/4
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Omega190 SI‑1800‑350 1800 4500 350 350 3/8 3/4 5/96 5/144
Omega190 SI‑3600‑700 3600 9000 700 700 3/4 1 1/2 5/48 5/72
Omega190 SI‑7200‑1400 7200 18000 1400 1400 1 1/2 3 5/24 5/36
Notes:

Sensor
Omega190 US‑400‑3000 400 1000 3000 3000 5/32 5/16 15/16 5/8
Omega190 US‑800‑6000 800 2000 6000 6000 5/16 5/8 1 7/8 1 1/4
Omega190 US‑1600‑12000 1600 4000 12000 12000 5/8 1 1/4 3 3/4 2 1/2
(SI) Metric Fx,Fy Fz3 Tx,Ty Tz Fx,Fy Fz3 Tx,Ty Tz
Sensor
Omega190 SI‑1800‑350 1800 4500 350 350 3/4 1 1/2 5/48 5/72
Omega190 SI‑3600‑700 3600 9000 700 700 1 1/2 3 5/24 5/36
Omega190 SI‑7200‑1400 7200 18000 1400 1400 3 6 5/12 5/18
Notes:
170

Sensor
Omega190 US‑400‑3000 ±400 ±1000 ±3000 40 100 300
Omega190 US‑800‑6000 ±800 ±2000 ±6000 80 200 600
Omega190 US‑1600‑12000 ±1600 ±4000 ±12000 160 400 1200
Tx,Ty,Tz Fx,Fy Fz 2
Tx,Ty,Tz
Sensor
Omega190 SI‑1800‑350 ±1800 ±4500 ±350 180 450 35
Omega190 SI‑3600‑700 ±3600 ±9000 ±700 360 900 70
Omega190 SI‑7200‑1400 ±7200 ±18000 ±1400 720 1800 140
Notes:

Sensor Calibration
(/ lbf) (/ lbf‑in) (/ N) (/ Nm)
Omega190 US‑400‑3000 / SI‑1800‑350 153.6 307.2 32 230.4
Omega190 US‑800‑6000 / SI‑3600‑700 76.8 153.6 16 115.2
Omega190 US‑1600‑12000 / SI‑7200‑1400 38.4 76.8 8 57.6
Omega190 Tool Transform Factor 0.005 in/lbf 1.3889 mm/N
171

US-1600-
US-400-3000 US-800-6000
12000
172

SI-1800-350 SI-3600-700 SI-7200-1400

173
15 ECO9595: Update dowel pin locations. LTF 3/20/2012

2X 10 Slip Fit 8
Customer Interface
(See Note 2) Mounting Sensing Reference
Adapter 55.9 10 Slip Fit 15
+X Frame Origin
Plate Customer Interface
5.17.10
49.497±0.025 +X
(See Note 2)
113.4
57.175
Net System 57.125 8
Customer Interface
75.197±0.025 (See Note 2)
45° 112.8
70±0.025 DAQ System 190

135°
-Y +Y -Z +Z +Y -Y
119.497±0.025
Tool Sensing Reference

Adapter Frame Origin
38.6 60°
Plate
DAQ System
45°
8X Tap M8 x 1.25 8 14.7 -X
174
B.C. 140 22.5° DAQ System 19.1 6X M12 x 1.75 15
Equally Spaced B.C 150.4
Customer Interface -X Net System Equally Spaced
(See Note 2) 44.8 Customer Interface
Net System SIDE VIEW TOOL SIDE (See Note 2)
MOUNTING SIDE
Omega190 DAQ/Net Transducer Drawing
ISOMETRIC VIEW

SPECIFIED.
MILLIMETERS.
1. Material: Hardened Stainless Steel and Aluminum PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
2. DO NOT EXCEED INTERFACE DEPTH, MAY CAUSE DAMAGE. TITLE
DRAWN BY: B.Digeso, 3/8/00
3. Do not disassemble transducer. Doing so could damage transducer and will
void the warranty. CHECKED BY: D. Norton 7/15/05
Omega190 DAQ/Net Transducer
4. For best accuracy transducer must be mounted to surface rigid enough
to support loads without deflection. SCALE SIZE DRAWING NUMBER REVISION

(7) 8.7 Thru Rev. Description Initiator Date
PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC.
For M8 SHCS NOT TO BE REPRODUCED IN ANY MANNER EXCEPT ON 03 Added Net Dimensions ALH 8/7/2008
ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
Customer Interface Eco 7255; Dim from center to limit of connector block
04 changed to 141.5mm as a result of connector block LJH 9/4/2009
Optional Mounting Neoprene component changes.
Side Pattern Rubber 190 238
Dust Jacket
5.17.11
49.499±0.025 (2) 10 Slip Fit 11 (6) Tap M12x1.75 16

+X Customer Interface 74.3 Equally Spaced 10 Slip Fit 12
119.502±0.025 Mounting Customer Interface +X Customer Interface
Adapter Plate 21.8
45°
70.002±0.025
Typ Tool
Adapter Plate 75.197±0.025
135°
B.C. 220
141.5
22.5°
+Y -Y
-Z +Z
-Y +Y
45° Sensing
Reference
175
Frame Origin B.C. 150
135° 161.252±0.025
106.252±0.025
B.C. 140 57.8 57.175

15° Mux & DAQ 12
57.125
(8) Tap M8 x 1.25 12 System 8.1 Customer Interface
28.470±0.025
Equally Spaced -X
-X 62.1
Connector For Cable Net System
Varies Depending on Sensing Reference
(2) 8 Slip Fit 11 SIDE VIEW Frame Origin TOOL SIDE
Sensor Selected
Customer Interface
123.733±0.025
MOUNTING SIDE 1031 Goodworth Drive, Apex, NC 27539, USA
NOTES: UNLESS
OTHERWISE SPECIFIED Tel: +1.919.772.0115 Email: info@ati-ia.com
DO NOT SCALE DRAWING. ISO 9001 Registered Company
Notes: DRAWN IN SOLIDWORKS.
1. Material: Stainless Steel and Aluminum ALL DIMENSIONS ARE
IN MILLIMETERS. DRAWN BY: TITLE
2. Do not touch internal electronics or instrumentation. P.Sparrow, 2/16/06
This could damage the transducer and will void warranty. IP60 Omega190 Transducer
CHECKED BY:
D.Norton, 2/17/06
3. Sensing Reference Frame Origin at surface center of Tool Adapter. SCALE SIZE DRAWING NUMBER
WEIGHT LBS:
4. For best accuracy, transducer must be mounted to surfaces rigid 31 B 9230-05-1265-04
ISOMETRIC VIEW 1:2
enough to support loads without deflection. 3rd ANGLE PROJECTION ASSEMBLY REF:
5X 22.5° 5X 22.5°
Mounting Adapter +X
49.500±0.025 Plate
Tool Adapter
5.17.12
Plate 30° 30°

74.8
+X
Customer Interface 12X Tap M8 X 1.25 12 Sensing Reference Customer Interface
204 75.197±0.025
70.002±0.025
B.C. 150.4
B.C. 140
-Y +Y -Z +Z +Y -Y
119.502±0.025
2X 30° 2X 30°
Sensing Reference
Frame Origin
176
63 8X Tap M12 X 1.75 12
22.5° 22.5° Mux and DAQ 2.4 -X
Customer Interface
142.9 -X System
Mux and DAQ 44.5 27.9 57.175
System 70.7 20
135.9 57.125
Net System
TOOL SIDE
SIDE VIEW
Connector for Cable
Varies Depending on
Sensor Selected
MOUNTING SIDE
Notes:
1. Material: Stainless Steel NOTES: UNLESS OTHERWISE 1031 Goodworth Drive, Apex, NC 27539, USA
2. Sensing Reference Frame Origin at surface center of Tool SPECIFIED.
Adapter. DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
3. Do not disassemble transducer. Doing so could damage ALL DIMENSIONS ARE IN ISO 9001 Registered Company
transducer and will void warranty. MILLIMETERS.
4. For best accuracy, transducer must be mounted to a surface MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
rigid enough to support loads without deflection. TITLE
5. Cable must be connected to transducer to maintain proper
seal. CHECKED BY: E. Bradford, 7/30/2014
6. Cable is only IP68 rated only at transducer end. Transducer ISOMETRIC VIEW
is IP68 rated in freshwater environment at a depth of up to SCALE SIZE DRAWING NUMBER REVISION
10 meters. 3rd ANGLE PROJECTION PROJECT # 140627-1 SHEET 1 OF 1 1:2 B 9230-05-1471 01
5X 22.5° 5X 22.5°
Mounting Adapter +X
49.500±0.025 Plate
Tool Adapter
5.17.13
Plate 30° 30°

74.8
+X
204 75.197±0.025
70.002±0.025
B.C. 150.4
B.C. 140
-Y +Y -Z +Z +Y -Y
119.502±0.025
2X 30° 2X 30°
Sensing Reference
Frame Origin
177
63 2.4 -X 8X Tap M12 X 1.75 12
22.5° 22.5° Customer Interface
Mux and DAQ
142.9 -X System
Mux and DAQ 44.5 27.9 57.175
System 70 20
135.9 57.125
Net System
TOOL SIDE
SIDE VIEW
Connector for Cable
Varies Depending on
Sensor Selected
MOUNTING SIDE
Notes:
IP68-10m Omega191 Transducer

Fxy ±8000 lbf ±36000 N
Fz ±25000 lbf ±110000 N
Txy ±60000 inf‑lb ±6800 Nm
Tz ±60000 inf‑lb ±6800 Nm
2.1x10 lb/in 3.6x10 8 N/m
Resonant Frequency
Fx, Fy, Tz N/A N/A
Fz, Tx, Ty N/A N/A
1
1
Note:
5.18.2 Omega191 IP60 Physical Properties

Fxy ±8000 lbf ±36000 N
Fz ±25000 lbf ±110000 N
Txy ±60000 inf‑lb ±6800 Nm
Tz ±60000 inf‑lb ±6800 Nm
Resonant Frequency
Fx, Fy, Tz 1200 Hz 1200 Hz
Fz, Tx, Ty 1200 Hz 1200 Hz
1
1
Note:
178

Fxy ±8000 lbf ±36000 N
Fz ±25000 lbf ±110000 N
Txy ±60000 inf‑lb ±6800 Nm
Tz ±60000 inf‑lb ±6800 Nm
Resonant Frequency
Fx, Fy, Tz 1400 Hz 1400 Hz
1
1
Note:

water at sea level.
Submersion Depth
179

Sensor
Omega191 US‑400‑3000 400 1000 3000 3000 5/64 5/32 15/32 5/16
Omega191 US‑800‑6000 800 2000 6000 6000 5/32 5/16 15/16 5/8
Omega191 US‑1600‑12000 1600 4000 12000 12000 5/16 5/8 1 7/8 1 1/4
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Omega191 SI‑1800‑350 1800 4500 350 350 3/8 3/4 5/96 5/144
Omega191 SI‑3600‑700 3600 9000 700 700 3/4 1 1/2 5/48 5/72
Omega191 SI‑7200‑1400 7200 18000 1400 1400 1 1/2 3 5/24 5/36
Notes:

Sensor
Omega191 US‑400‑3000 400 1000 3000 3000 5/32 5/16 15/16 5/8
Omega191 US‑800‑6000 800 2000 6000 6000 5/16 5/8 1 7/8 1 1/4
Omega191 US‑1600‑12000 1600 4000 12000 12000 5/8 1 1/4 3 3/4 2 1/2
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Omega191 SI‑1800‑350 1800 4500 350 350 3/4 1 1/2 5/48 5/72
Omega191 SI‑3600‑700 3600 9000 700 700 1 1/2 3 5/24 5/36
Omega191 SI‑7200‑1400 7200 18000 1400 1400 3 6 5/12 5/18
Notes:
180

Sensor
Omega191 US‑400‑3000 ±400 ±1000 ±3000 40 100 300
Omega191 US‑800‑6000 ±800 ±2000 ±6000 80 200 600
Omega191 US‑1600‑12000 ±1600 ±4000 ±12000 160 400 1200
Tx,Ty,Tz Fx,Fy Fz 2
Tx,Ty,Tz
Sensor
Omega191 SI‑1800‑350 ±1800 ±4500 ±350 180 450 35
Omega191 SI‑3600‑700 ±3600 ±9000 ±700 360 900 70
Omega191 SI‑7200‑1400 ±7200 ±18000 ±1400 720 1800 140
Notes:

Sensor Calibration
(/ lbf) (/ lbf‑in) (/ N) (/ Nm)
Omega191 US‑400‑3000 / SI‑1800‑350 153.6 307.2 32 230.4
Omega191 US‑800‑6000 / SI‑3600‑700 76.8 153.6 16 115.2
Omega191 US‑1600‑12000 / SI‑7200‑1400 38.4 76.8 8 57.6
181
Help
Omega191
US-400-3000 US-800-6000 US-1600-12000

182
Help
Omega191
SI-1800-350 SI-3600-700 SI-7200-1400

183
ECO 18154: Tool Side: Added Dowel symbol. Added

04 "128.369 0.025" & "53.172 0.025" dimensions. Added TBC 10/8/2019
"2X" to 10 Slip Fit 15 Customer Interface.
2X 10 Slip Fit 10 2X 10 Slip Fit 15

64
5.18.10
+X Mounting Sensing Reference +X

Adapter Frame Origin
49.497±0.025 57.175
Plate 30° 30° 57.125 10
113.4 1.0 x 45 Chamfer
(See Note 2)
75.197±0.025
45° 112.8 8X Tap M12X1.75 16
70±0.025 DAQ System 190
Customer Interface
(See Note 2)
128.369±0.025
-Y +Y -Z +Z +Y -Y
119.497±0.025
2X 30°
2X 30°
38.6
DAQ System
B.C. 140 B.C. 150.4
184
19 -X Sensing Reference
22.5° DAQ System Frame Origin
22.5°
12X Tap M8X1.25 12 Typ. 23.4 Tool
Customer Interface -X 44.8 Net System Adapter 53.172±0.025
(See Note 2) Net System Plate

Omega191 DAQ/Net Transducer Drawing

SPECIFIED.
ISOMETRIC VIEW DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
Notes: MILLIMETERS.
1. Material: Hardened Steel and Stainless Steel MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
2. DO NOT EXCEED INTERFACE DEPTH, MAY CAUSE DAMAGE TITLE
3. Do not disassemble transducer. Doing so could damage transducer and will Omega191 DAQ/Net Transducer
void the warranty. CHECKED BY: P. Fusco, 2/28/2014
4. For best accuracy transducer must be mounted to a surface rigid enough to
support loads without deflection. SCALE SIZE DRAWING NUMBER REVISION

01 Release LTF 7/29/2014
7X 8.7 Thru
For M8 SHCS
2X 10 Slip Fit 11
Customer Interface
Customer Interface
Optional Mounting
Side Pattern
5.18.11
12X Tap M8 x 1.25 12 74.3

22.9 Neoprene 8X Tap M12x1.75 16 10 Slip Fit 12
Rubber Customer Interface
45° Mounting Dust Jacket Customer Interface
+X B.C. 220 +X
Typ Adapter Plate
238
30° 30° 75.197±0.025
Tool
119.502±0.025 Adapter Plate
141.5 190
70.002±0.025
161.252±0.025
-Y +Y +Y
-Z +Z -Y
45°
4X 22.5° 4X 22.5°
2X 30° 2X 30°
Sensing
Reference
Frame Origin
106.252±0.025 22.5°
185
22.5°
B.C. 150.4
B.C. 140 57.8 57.175
Mux & DAQ 8.1 -X 12
57.125
28.470±0.025 System Sensing Reference Customer Interface
-X 70.4 62.1 Frame Origin
2X 8 Slip Fit 11 Net System
123.733±0.025
Customer Interface
MOUNTING SIDE Connector For Cable SIDE VIEW TOOL SIDE

Varies Depending on
Sensor Selected

SPECIFIED.
MILLIMETERS.
1. Material: Hardened Steel, Stainless Steel and Aluminum MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
TITLE
2. Sensing Reference Frame Origin at surface center of Tool Adapter. ISOMETRIC VIEW DRAWN BY: L. Fisher, 5/30/2014
3. Do not disassemble transducer. Doing so could damage transducer IP60 Omega191 Transducer
CHECKED BY: A. Pongor, 6/9/2014
3rd ANGLE PROJECTION PROJECT # - SHEET 1 OF 1 1:2.5 B 9230-05-1470 01
5X 22.5° 5X 22.5°
Mounting Adapter +X
49.500±0.025 Plate
Tool Adapter
5.18.12
Plate 30° 30°

74.8
+X
204 75.197±0.025
70.002±0.025
B.C. 150.4
B.C. 140
-Y +Y -Z +Z +Y -Y
119.502±0.025
2X 30° 2X 30°
Sensing Reference
Frame Origin
186
63 8X Tap M12 X 1.75 12
22.5° 22.5° Mux and DAQ 2.4 -X
Customer Interface
142.9 -X System
Mux and DAQ 44.5 27.9 57.175
System 70.7 20
135.9 57.125
Net System
TOOL SIDE
SIDE VIEW
Connector for Cable
Varies Depending on
Sensor Selected
MOUNTING SIDE
Notes:
5X 22.5° 5X 22.5°
Mounting Adapter +X
49.500±0.025 Plate
Tool Adapter
5.18.13
Plate 30° 30°

74.8
+X
204 75.197±0.025
70.002±0.025
B.C. 150.4
B.C. 140
-Y +Y -Z +Z +Y -Y
119.502±0.025
2X 30° 2X 30°
Sensing Reference
Frame Origin
187
63 2.4 -X 8X Tap M12 X 1.75 12
22.5° 22.5° Customer Interface
Mux and DAQ
142.9 -X System
Mux and DAQ 44.5 27.9 57.175
System 70 20
135.9 57.125
Net System
TOOL SIDE
SIDE VIEW
Connector for Cable
Varies Depending on
Sensor Selected
MOUNTING SIDE
Notes:
IP68-10m Omega191 Transducer
5.19 Omega250 Specifications (Includes IP60/IP65/IP68)

5.19.1 Omega250 Physical Properties (Includes IP60/IP65/IP68)
Table 5.109—Omega250 Physical Properties (Includes IP60/IP65/IP68)
Fxy ±37000 lbf ±160000 N
Fz ±74000 lbf ±330000 N
Txy ±180000 inf‑lb ±21000 Nm
Tz ±220000 inf‑lb ±25000 Nm
Resonant Frequency
Note:

water at sea level.
Submersion Depth
Fz preload at 10 m depth ‑1138 lb ‑5061 N
188

Sensor
Omega250 US‑900‑4500 900 1800 4500 4500 1/2 1/2 1 1
Omega250 US‑1800‑9000 1800 3600 9000 9000 1 1 2 2
Omega250 US‑3600‑18000 3600 7200 18000 18000 2 2 5 5
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Omega250 SI‑4000‑500 4000 8000 500 500 1 2 1/8 1/8
Omega250 SI‑8000‑1000 8000 16000 1000 1000 2 4 1/4 1/4
Omega250 SI‑16000‑2000 16000 32000 2000 2000 4 8 1/2 1/2
Notes:

Sensor
Omega250 US‑900‑4500 900 1800 4500 4500 1 1 2 2
Omega250 US‑1800‑9000 1800 3600 9000 9000 2 2 5 5
Omega250 US‑3600‑18000 3600 7200 18000 18000 5 5 10 10
Tx,Ty Tz Fx,Fy Fz 3
Tx,Ty Tz
Sensor
Omega250 SI‑4000‑500 4000 8000 500 500 2 4 1/4 1/4
Omega250 SI‑8000‑1000 8000 16000 1000 1000 4 8 1/2 1/2
Omega250 SI‑16000‑2000 16000 32000 2000 2000 8 16 1 1
Notes:
189

Sensor
Omega250 US‑900‑4500 ±900 ±1800 ±4500 90 180 450
Omega250 US‑1800‑9000 ±1800 ±3600 ±9000 180 360 900
Omega250 US‑3600‑18000 ±3600 ±7200 ±18000 360 720 1800
Tx,Ty,Tz Fx,Fy Fz 2
Tx,Ty,Tz
Sensor
Omega250 SI‑4000‑500 ±4000 ±8000 ±500 400 800 50
Omega250 SI‑8000‑1000 ±8000 ±16000 ±1000 800 1600 100
Omega250 SI‑16000‑2000 ±16000 ±32000 ±2000 1600 3200 200
Notes:

Sensor Calibration
(/ lbf) (/ lbf‑in) (/ N) (/ Nm)
Omega250 US‑900–4500 / SI‑4000–500 8 4 4000 32000
Omega250 US‑1800–9000 / SI‑8000–1000 4 2 2000 16000
Omega250 US‑3600–18000 / SI‑16000‑2000 2 1 1000 8000
190
Help
Omega250 IP60/IP65/IP68
US-900-4500 US-1800-9000 US-3600-18000

191
Help
Omega250 IP60/IP65/IP68
SI-4000-500 SI-8000-1000 SI-16000-2000

192
ECO11873: Added 6x additional M12 tapped holes for
06 customer interface to TAP and MAP. Added 2x 12mm LTF 3/21/2014
SF dowels to the MAP for customer interface.
12.060
2X 12.035 Slip Fit 25.4
Customer Interface 14X Tap M12X1.75 17 Neoprene
Equally Spaced Rubber
2X 10 Slip Fit 11 Customer Interface Dust Jacket
Customer Interface
22.5° 94.9 2X 38.268±0.025 15° Sensing Reference
Mounting Frame Origin
+X Adapter plate 30.5 Tool 14X Tap M12 x 1.75 17 +X
273.050±0.025 Adapter Plate Equally Spaced
136.569±0.025
136.525±0.025 295
254 22.5°
80±0.025
92.388±0.025
135°
-Y +Y
-Z +Z
+Y -Y
171.9 184.776±0.025 135°

45°
193
B.C. 200
57.8
Mux & DAQ
System Sensing Reference
B.C.
160 Frame Origin B.C. 273.1
-X 15.2 2X 12 Slip Fit 10 -X 11X 12.7 Thru

56.569±0.025 70.4 Customer Interface
Net System 19.3 12.4
69.2 For M12 SHCS
MOUNTING SIDE 57.175 TOOL SIDE
17 Customer Interface
SIDE VIEW 57.125
Connector For Cable Customer Interface Optional Mounting
Varies Depending on Pattern
Sensor Selected

SPECIFIED.
MILLIMETERS.
Notes: PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY MANNER
TITLE
2. Sensing Reference Frame Origin at surface center of Tool Adapter. DRAWN BY: P.Sparrow, 2/16/06
3. Do not disassemble transducer. Doing so could damage transducer IP60 Omega250 Transducer
CHECKED BY: D.Norton, 2/17/06
4. For best accuracy, transducer must be mounted to a surface rigid ISOMETRIC VIEW
3rd ANGLE PROJECTION PROJECT # - SHEET 1 OF 1 1:2.5 B 9230-05-1266 06
03 Eco 11989; Updated MAP and TAP plates. LJH 6/5/14
Mounting Adapter
Plate Tool Adapter
Plate
61.872±0.025 2X 10 Slip Fit 10 2X 38.268±0.025 14X Tap M12X1.75 18
Customer Interface Equally Spaced
94.9 B.C. 200 Customer Interface
260.4 +X B.C. 175 +X
Sensing Reference
Frame Origin
13X Tap M12X1.75 18
Customer Interface
87.500±0.025
184.776±0.025
22.5° Typ.
135°
-Z +Z
-Y +Y +Y -Y
149.372±0.025
45°
Membrane 92.388±0.025
Vent
194
-X 63.3 -X
165.7 Mux and DAQ
Net System System 57.175
44.2 17.7
57.125

Net System TOOL SIDE
175.3 2X 12 Slip Fit 10
Mux and DAQ Customer Interface
System SIDE VIEW
Connector For Cable
Varies Depending on Sensing Reference
Sensor Selected Frame Origin
MOUNTING SIDE
Notes:
2. Sensing Reference Frame Origin at SPECIFIED.
surface center of Tool Adapter. DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
3. Do not disassemble transducer. Doing so ALL DIMENSIONS ARE IN ISO 9001 Registered Company
could damage transducer and will void warranty. MILLIMETERS.
4. For best accuracy, transducer must be mounted to a MANNER EXCEPT ON ORDER OR WITH PRIOR WRITTEN AUTHORIZATION OF ATI.
surface rigid enough to support loads without deflection. TITLE
5. Cable must be connected to transducer to
maintain proper seal. CHECKED BY: D.Norton 2/17/06
6. Cable is IP65 rated only at Transducer End.
ISOMETRIC VIEW 3rd ANGLE PROJECTION PROJECT # - SHEET 1 OF 1 1:2.5 B 9230-05-1271 03
03 Eco 11989; Changed H7 to Slip Fit, change hole LJH 6/5/2014

instances from 8 to 14
+X
Tool +X
5.19.10
61.893±0.012 Adapter
2X 10 Slip Fit, 10
Customer Interface 2X 38.268±0.012
22.5° Mounting Sensing
Adapter 94.9
Typ. Reference
Frame 22.5° Typ.
92.388±0.012 B.C. 200
Origin
14X Tap M12x1.75 18

Customer Interface
87.500±0.012
149.363±0.012
-Y +Y -Z +Z +Y -Y
184.776±0.012
OD 260.4
Sensing
Reference
Frame
Origin
195
61 -X
-X 44.2
57.175
B.C. 175 18
13X Tap M12x1.75 18 57.125
175.3 Connector for Cable Customer Interface
Customer Interface
Varies Depending on 2X 12 Slip Fit, 10
Sensor Selected Customer Interface
SIDE VIEW TOOL SIDE
MOUNTING SIDE
NOTES:
2. Sensing Reference frame origin at SPECIFIED.
surface center of tool adapter. Tel: +1.919.772.0115 Email: info@ati-ia.com
3. Do not disassemble transducer. Doing so DO NOT SCALE DRAWING. Fax: +1.919.772.8259 www.ati-ia.com
could damage transducer and will void warranty. MILLIMETERS.
4. For best accuracy, transducer must be mounted to a PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
surface rigid enough to support loads without deflection.
TITLE
5. Cable must be connected to transducer to DRAWN BY: P.Sparrow, 2/16/06
maintain proper seal. CHECKED BY: D.Norton 2/17/06
IP68-10m OMEGA250 Transducer
6. Cable is only IP68 rated at Transducer End. Transducer
is IP68 rated in freshwater environment at a depth of SCALE SIZE DRAWING NUMBER REVISION
up to 10 meters. ISOMETRIC VIEW PROJECT #
3rd ANGLE PROJECTION - SHEET 1 OF 1 1:3 B 9230-05-1276 03
5.20 Omega331 Specifications (Includes IP65)

5.20.1 Omega331 Physical Properties (Includes IP65)
Table 5.114—Omega331 Physical Properties (Includes IP60/IP65)
Fxy ±53000 lbf ±240000 N
Fz ±120000 lbf ±520000 N
Txy ±280000 inf‑lb ±32000 Nm
Tz ±320000 inf‑lb ±36000 Nm
Resonant Frequency
Fx, Fy, Tz N/A N/A
Fz, Tx, Ty N/A N/A
Weight1 104 lb 47 kg
Diameter1 13 in 330 mm
Height1 4.22 in 107 mm
Note:
196

Sensor
Omega331 US‑2250‑13000 2250 5250 13000 13000 3/8 1 3 3/4 1 7/8
Omega331 US‑4500‑26000 4500 10500 26000 26000 3/4 2 7 1/2 3 3/4
Omega331 US‑9000‑52000 9000 21000 52000 52000 1 1/2 4 15 7 1/2
Sensor
Calibration (kN) (kN) (kNm) (kNm) (kN) (kN) (kNm) (kNm)
Omega331 SI‑10000‑1500 10 22 1.5 1.5 1/640 1/240 3/8000 3/16000
Omega331 SI‑20000‑3000 20 44 3 3 1/320 1/120 3/4000 3/8000
Omega331 SI‑40000‑6000 40 88 6 6 1/160 1/60 3/2000 3/4000
Notes:

Sensor
Omega331 US‑2250‑13000 2250 5250 13000 13000 3/4 2 7 1/2 3 3/4
Omega331 US‑4500‑26000 4500 10500 26000 26000 1 1/2 4 15 7 1/2
Omega331 US‑9000‑52000 9000 21000 52000 52000 3 8 30 15
Sensor
Calibration (kN) (kN) (kNm) (kNm) (kN) (kN) (kNm) (kNm)
Omega331 SI‑10000‑1500 10 22 1.5 1.5 1/320 1/120 3/4000 3/8000
Omega331 SI‑20000‑3000 20 44 3 3 1/160 1/60 3/2000 3/4000
Omega331 SI‑40000‑6000 40 88 6 6 1/80 1/30 3/1000 3/2000
Notes:
197

Sensor
Omega331 US‑2250‑13000 ±2250 ±5250 ±13000 225 525 1300
Omega331 US‑4500‑26000 ±4500 ±10500 ±26000 450 1050 2600
Omega331 US‑9000‑52000 ±9000 ±21000 ±52000 900 2100 5200
Sensor
Calibration (kN) (kN) (kNm) (kN/V) (kN/V) (kNm/V)
Omega331 SI‑10000‑1500 ±10 ±22 ±1.5 1 2.2 0.15
Omega331 SI‑20000‑3000 ±20 ±44 ±3 2 4.4 0.3
Omega331 SI‑40000‑6000 ±40 ±88 ±6 4 8.8 0.6
Note:

Sensor Calibration
(/ lbf) (/ lbf‑in) (/ kN) (/ kNm)
Omega331 US‑2250–13000 / SI‑10000–1500 32 6.4 7680 64000
Omega331 US‑4500–26000 / SI‑20000–3000 16 3.2 3840 32000
Omega331 US‑9000–52000 / SI‑40000–6000 8 1.6 1920 16000
198
Help
Omega331
5.20.6 Omega331 (US Calibration Complex Loading) (Includes IP65)
US-2250-13000 US-4500-26000 US-9000-52000
199
Document #9620-05-Transducer Section‑26 Omega331
5.20.7 Omega331 (SI Calibration Complex Loading) (Includes IP65)
SI-10000-1500 SI-20000-3000 SI-40000-6000
200
Eco 11586; Modified MAP and TAP to eliminate legacy
04 AP 11/6/2013
features. Added dimensions for NET version.
226.824±0.025
Mounting 30.7 29.8
Adapter Tool 2X 82.023±0.025
144.801±0.025 Plate
2X 12 Slip Fit 12 Adapter
+X Plate 2X 12 Slip Fit 12 +X B.C. 295.3
Customer Interface
Customer Interface
B.C. 295.3
122.756±0.025
151.559±0.025
-Y +Y -Z +Z +Y -Y
330 254
30°
245.512±0.025
28.803±0.025
16X M12X1.75 Thru
201
Equally Spaced
Customer Interface Sensing
120.900 Reference
5.20.8 Omega331 Transducer Drawing
120.900 Sensing Frame Origin

-X Connector for Cable Reference 120.650 6 -X
120.650 3
Varies Depending on 18 Frame Origin Customer Interface 16X M12X1.75 Thru
Customer Interface
MOUNTING SIDE Sensor Selected Equally Spaced
Customer Interface
177.5 107 TOOL SIDE
SIDE VIEW
Connector for Cable

SPECIFIED.
MILLIMETERS.
ISOMETRIC VIEW TITLE
1. Material: Hardened Stainless Steel and Aluminum DRAWN BY: D Norton 10/03/03
2. DO NOT EXCEED INTERFACE DEPTH, MAY CAUSE DAMAGE. CHECKED BY: P Fusco 7/17/06
Omega331 Tranducer
3. Do not disassemble transducer. Doing so could damage transducer and will void the warranty
4. For best accuracy transducer must be mounted to a surface rigid enough SCALE SIZE DRAWING NUMBER REVISION
02 Added Net Version RKC 3/8/2011
(2) 12 Slip Fit 12

(2) 82.023±0.025
Mounting 30.7 29.8 (16) M12X1.75 Thru
144.801±0.025 Adapter
Plate Tool Equally Spaced
Adapter Customer interface
+X +X
Plate
122.756±0.025
B.C. 295.3
151.559±0.025
330 254
+Y
-Z +Z -Y
-Y +Y
245.512±0.025
28.803±0.025
30°
202
61.1
DAQ System
25.4
Sensing
-X Sensing -X Reference
10.4
(16) M12X1.75 Thru 211 55.6 Reference Frame Origin
Frame Origin (2) 12 Slip Fit 12
Equally Spaced
71.4 107 Customer Interface B.C. 295.3
Customer interface
MOUNTING SIDE Net System
SIDE VIEW TOOL SIDE

SPECIFIED.
1. Mounting and Tool Adapter made of stainless steel. Transducer MILLIMETERS.
body made of hardened stainless steel. PROPERTY OF ATI INDUSTRIAL AUTOMATION, INC. NOT TO BE REPRODUCED IN ANY
2. Sensing reference frame origin at surface center of tool adapter. TITLE
3. Warning: Do not loosen or remove interface plates due to
potential damage. CHECKED BY: P. Fusco 9/11/09
4. For best accuracy, transducer must be mounted to surfaces rigid

6. Advanced Topics
6.1 Reducing Noise
6.1.1 Mechanical Vibration
In many cases, perceived noise is actually a real fluctuation of force and/or torque, caused
by vibrations in the tooling or the robot arm. Many F/T systems offer filtering or averaging
that can smooth out noise. If this is not sufficient, you may want to add a digital filter to the
application software.
6.1.2 Electrical Interference

Check the F/T’s ground connections if you observe interference by motors or other
noise‑generating equipment.
Consider using averaging or filtering if sufficient grounding is not possible or does not
reduce the noise.
6.2 Detecting Failures (Diagnostics)

6.2.1 Detecting Sensitivity Changes
Sensitivity checking of the transducer can also be used to measure the transducer system’s health.
This is done by applying known loads to the transducer and verifying the system output matches
the known loads. For example, a transducer mounted to a robot arm may have an end‑effector
attached to it:
If the end‑effector has moving parts, they must be moved in a known position. Place the robot
arm in an orientation that allows the gravity load from the end‑effector to exert load on many
transducer output axes.
Record the output readings.
Position the robot arm to apply another load, this time causing the outputs to move far from the
earlier readings.
Record the second set of output readings.
Find the differences from the first and second set of readings and use it as your sensitivity value.
Even if the values vary somewhat from sample set to sample set, they can be used to detect gross
errors. Either the resolved outputs or the raw transducer voltages may be used (the same must be
used for all steps of this process).
CAUTION: When any strain gage is saturated or otherwise inoperable, all

transducer F/T readings are invalid. It is vitally important to monitor for
these conditions.
6.3 Scheduled Maintenance

6.3.1 Periodic Inspection
For most applications, there are no parts that need to be replaced during normal operation. With
industrial‑type applications that continuously or frequently move the system’s cabling, you should
periodically check the cable jacket for signs of wear. These applications should implement the
procedures discussed in Section 5.2—Detecting Failures (Diagnostics) to detect any failures.
Transducers that are not IP60, IP65, or IP68 rated must be kept free of excessive dust, debris, or
moisture. IP60‑rated transducers must be kept free of excessive moisture. Debris and dust should
be kept from accumulating on or in a transducer.
203
6.3.2 Periodic Calibration

Periodic calibration of the transducer and its electronics is required to maintain traceability to
national standards. Follow any applicable ISO‑9000‑type standards for calibration. ATI Industrial
Automation recommends annual recalibrations, especially for applications that frequently cycle the
loads applied to the transducer.
6.4 Transducer Cabling

6.4.1 Calibrations
In many cases the transducer cable comprises part of the calibrated transducer. In these cases,
changing the length or type of the cable can affect the calibration. Check with ATI Industrial
Automation when making cabling changes to ensure your system’s calibration will not be affected.
6.4.2 Cabling and Connectors

The transducer cables and connectors are not designed to be user serviceable. The high
flex life stranding used in the cable is difficult to work with and will fail prematurely if
improperly assembled.
However, there are special cases when customers find it necessary to temporarily remove the
connector on a cable that is permanently attached to a transducer (such as found on the Nano and
Mini series transducers). When reattaching the wires to the connector, it is vital that each conductor
is encased in heat shrink tubing at the connection to prevent premature fatiguing of the mechanical
connection. Also, any components contained in the connector must be reconnected exactly as found
– failing to do so will impact system performance and accuracy.
Damage to the outer jacketing of the transducer cable could enable moisture or water to enter
an otherwise sealed transducer. Ensure the cable jacketing is in good condition to prevent
transducer damage.
6.5 Resolution
ATI’s transducers have a three sensing beam configuration where the three beams are equally spaced
around a central hub and attached to the outside wall of the transducer. This design transfers applied
loads to multiple sensing beams and allows the transducer to increase its sensing range in a given axis if a
counterpart axis has reduced.
The resolution of each transducer axis depends on how the applied load is spread among the sensing beams.
The best resolution occurs in the scenario when the quantization of the gages is evenly distributed as load is
applied. In the worst case scenario, the discrete value of all involved gages increases at the same time. The
typical scenario will be somewhere between these two.
F/T resolutions are specified as typical resolution, defined as the average of the worst and best case
scenarios. Because both multi‑gage effects can be modeled as a normal distribution, this value represents the
most commonly perceived, average resolution. Although this misrepresents the actual performance of the
transducers, it results in a close (and always conservative) estimate.
204
7. Terms and Conditions of Sale

The following Terms and Conditions are a supplement to and include a portion of ATI’s Standard Terms and
Conditions, which are on file at ATI and available upon request.
ATI warrants to Purchaser that force torque sensor products purchased hereunder will be free from defects in
material and workmanship under normal use for a period of one year from the date of shipment. This warranty
does not cover components subject to wear and tear under normal usage or those requiring periodic replacement.
ATI will have no liability under this warranty unless: (a) ATI is given written notice of the claimed defect and a
description thereof within thirty (30) days after Purchaser discovers the defect and in any event not later than the
last day of the warranty period; and (b) the defective item is received by ATI not later ten (10) days after the last
day of the warranty period. ATI’s entire liability and Purchaser’s sole remedy under this warranty is limited to
repair or replacement, at ATI’s election, of the defective part or item or, at ATI’s election, refund of the price paid
for the item. The foregoing warranty does not apply to any defect or failure resulting from improper installation,
operation, maintenance or repair by anyone other than ATI.
ATI will in no event be liable for incidental, consequential or special damages of any kind, even if ATI has been
advised of the possibility of such damages. ATI’s aggregate liability will in no event exceed the amount paid by
purchaser for the item which is the subject of claim or dispute. ATI will have no liability of any kind for failure of
any equipment or other items not supplied by ATI.
No action against ATI, regardless of form, arising out of or in any way connected with products or services supplied
hereunder may be brought more than one year after the cause of action accrued.
No representation or agreement varying or extending the warranty and limitation of remedy provisions contained
herein is authorized by ATI, and may not be relied upon as having been authorized by ATI, unless in writing and
signed by an executive officer of ATI.
Unless otherwise agreed in writing by ATI, all designs, drawings, data, inventions, software and other technology
made or developed by ATI in the course of providing products and services hereunder, and all rights therein under
any patent, copyright or other law protecting intellectual property, shall be and remain ATI’s property. The sale of
products or services hereunder does not convey any express or implied license under any patent, copyright or other
intellectual property right owned or controlled by ATI, whether relating to the products sold or any other matter,
except for the license expressly granted below.
In the course of supplying products and services hereunder, ATI may provide or disclose to Purchaser confidential
and proprietary information of ATI relating to the design, operation or other aspects of ATI’s products. As between
ATI and Purchaser, ownership of such information, including without limitation any computer software provided
to Purchaser by ATI, shall remain in ATI and such information is licensed to Purchaser only for Purchaser’s use in
operating the products supplied by ATI hereunder in Purchaser’s internal business operations.
Without ATI’s prior written permission, Purchaser will not use such information for any other purpose or provide or
otherwise make such information available to any third party. Purchaser agrees to take all reasonable precautions to
prevent any unauthorized use or disclosure of such information.
Purchaser will not be liable hereunder with respect to disclosure or use of information which: (a) is in the public
domain when received from ATI; (b) is thereafter published or otherwise enters the public domain through no fault
of Purchaser; (c) is in Purchaser’s possession prior to receipt from ATI; (d) is lawfully obtained by Purchaser from a
third party entitled to disclose it; or (f) is required to be disclosed by judicial order or other governmental authority,
provided that, with respect to such required disclosures, Purchaser gives ATI prior notice thereof and uses all legally
available means to maintain the confidentiality of such information.
205

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F/T Transducer

Installation and Operation Manual

Document #: 9620-05-Transducer Section

Engineered Products for Robotic Productivity

©Copyright 2019 by ATI Industrial Automation. All rights reserved.

All trademarks belong to their respective owners.

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Sale, Service and Information about ATI products:

1.1 Explanation of Notifications

DANGER: Notification of information or instructions that if not followed will result in

WARNING: Notification of information or instructions that if not followed could result

CAUTION: Notification of information or instructions that if not followed could result

NOTICE: Notification of specific information or instructions about maintaining, operating,

1.2 General Safety Guidelines

1.3 Safety Precautions

CAUTION: Do not exert excessive force on the transducer. The transducer is a

3. Installing the Transducer

3.1 Transducer Environment

3.2 Mounting the Transducer

CAUTION: Do not remove any fasteners or disassemble transducers without a

3.2.1 Interface Plate Design

Robot or Other Device

Locating Locating Boss

Tooling *Units are inches

3.2.2 Mounting the Transducer with a Removable Mounting Adapter Plate

Figure 3.2—Removable Adapter Plate

Machine mounting bolt pattern concentric to mounting

CAUTION: Do not touch

Protect exposed electronics

Machine mounting bolt pattern and locating

Computer Running Demo Application

Robot or other Device

3.2.3 Mounting the Transducer with a Non‑removable Adapter Plate

CAUTION: Do not exceed the single‑axis overload value of the transducer.

Computer Running Demo Application

Robot or other Device

3.3 Routing the Transducer Cable

Figure 3.5—Restrain Transducer Cable Close to Cable Connector

CAUTION: Do not subject the transducer cable connector to the repetitive

To protect connector from

Table 3.1—Transducer Cable Bending Radius

CAUTION: Larger transducers have removable cables. Do not attempt to disconnect

Table 4.2—Error Introduced Over Temperature for Gamma Transducers

4.2 Tool Transformation Effects

Table 4.4—Transducer Temperature Ranges ‑ IP60, IP65, and IP68

4.4 Mux Transducer Input Filter Frequency Response

Figure 4.1—Mux input filter frequency response (‑3dB @ 235Hz)

4.5 Transducer Strain Gage Saturation

5.1.2 Complex Loading Graph Description

5.2 Nano17 Titanium

5.2.2 Calibration Specifications (excludes CTL calibrations)

5.2.3 CTL Calibration Specifications

5.2.4 CTL Analog Output

5.2.5 CTL Counts Value

5.2.6 Nano17 Titanium (US Calibration Complex Loading)

US-1.8-0.4 US-3.6-0.8 US-7.2-1.6

SI-8-0.05 SI-16-0.1 SI-32-0.2

(120°) 3.5 (See Note 5)

(3) Tap M2x.4 Sensing Reference

3.5 (See Note 5) Frame Origin

ALTERNATE CABLE EXIT

5.3 Nano17 Specifications (Includes IP65/IP68 Versions)

5.3.2 Nano17 IP65/IP68 Physical Properties