sri product catolog 20190222 · loadcells for crash test dummies are exclusively supplied to...

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6 axis force/torque sensor, also called as 6 axis loadcell, measures 6 components of forces and torques. Sunrise Instruments (SRI) is one of the leading manufacturers of 6 axis force/torque sensor (6 axis loadcell) for Robotics & Automation, Biomechanics, automotive crash dummy and durability tests. Since 2007, SRI has developed nine series of multi-axis force/torque sensors over 200 models for various applications, based on SRI’s patented and/or patent-pending technologies. The 6 axis loadcells for crash test dummies are exclusively supplied to Humanetics ATD, and the rest of the force/torque sensors are marketed under our own band “SRI”, when the applications are outside automotive occupant safety.

SRI has over 50 models of robot joint torque sensors for collaborative and medical robots with global user base.

SRI has extensive experiences in robotic force control. The intelligent grinder – iGrinder is designed for grinding and polishing of many materials like steel, aluminum, plastic and wood.

Six Axis Force / Torque Sensor (6 axis loadcell)

Matrix-Decoupled: The forces and moments are obtained by pre-multiplying a 6X6 decoupled matrix to the six output voltages. The decoupled matrix can be found from the calibration report supplied with the sensor.

Structurally Decoupled: The six output voltages are independent, each of which represents one of the forces or moments. The sensitivity can be found from the calibration report.

6 Axis F/T sensor (6 axis Loadcell), 7 Series:M37XX series: ø15 to ø135mm, 50 to 6400N, 0.5 to 320Nm, overload capacity 300%M33XX series: ø104 to ø199mm, 165 to 18000N, 15 to 1400Nm, overload capacity 1000%M35XX series: extra thin 9.2mm, ø30 to ø90mm, 150 to 2000N, 2.2 to 40Nm, overload capacity 300%M38XX series: high accuracy, ø45 to ø100mm, 40 to 260N, 1.5 to 28Nm, overload 600% to 1000%M39XX series: large capacity, ø60 to ø135mm, 2.7 to 291kN, 96 to 10800Nm, overload capacity 150%M361X series: 6 axis force platform, 1250 to10000N，500 to 2000Nm, overload capacity 150%M43XX series: ø85 to ø280mm, 100 to 15000N, 8 to 6000Nm, overload capacity 300%

Single Axis Force Sensor: M21XX series, M36XX series

Robot Joint Torque Sensor: M2210X series, M2211X series

iGrinder ® Intelligent Grinder: M530XX series

Loadcell for Auto Durability Test: M411X series, M341X series, M31XX series

DAQ and Amplifier: M8128X series, M8301X series, IDAS-VR

选型指引

Introduction

Model Selection


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37XX series sensors are matrix-decoupled, diameter from 15mm to 135mm, capacity 50 to 6400N, 0.5 to 320Nm, non-linearity & hysteresis 0.5%, crosstalk 2%, overload 300%. A 6X6 decoupled matrix is provided in the calibration sheet when delivered. The amplifier (M830X) can be used to provide high voltage output. The interface box (M8128) can be used to provide signal conditioning and data acquisition. Amplifier can be embedded into some of the sensors at special request. Standard protection is IP60. 37XX series can be made to IP68 (10m underwater) for most of the models by adding “P” to the part number (e.g. M3716BP).

M37XXSeries 6 Axis F/T sensor (Robot & General Testing

Model DescriptionCapacity (N/Nm) Dimension (mm) Mass

(Kg)FX,FY FZ MX,MY MZ OD Height ID

3701A 6 AXIS LOADCELL D15MM F50N 50 100 0.5 0.5 15 14 4.4 0.01

3701B 6 AXIS LOADCELL D15MM F100N 100 200 1 1 15 14 4.4 0.01

3701C 6 AXIS LOADCELL D15MM F200N 200 400 2 2 15 14 4.4 0.01

3702A 6 AXIS LOADCELL D21MM F50N 50 100 0.75 0.75 21 17 5.4 0.01

3702B 6 AXIS LOADCELL D21MM F100N 100 200 1.5 1.5 21 17 5.4 0.01

3702C 6 AXIS LOADCELL D21MM F200N 200 400 3 3 21 17 5.4 0.01

3712A 6 AXIS LOADCELL D21MM F400N 400 800 6 6 21 17 5.4 0.02

3712A1 6 AXIS LOADCELL D21MM F400N 400 800 6 6 21 17 5.4 0.02

3712B 6 AXIS LOADCELL D21MM F800N 800 1600 12 12 21 17 5.4 0.02

3722C 6 AXIS LOADCELL D30MM F1600N 1600 3200 40 40 30 23 6 0.07


3703A 6 AXIS LOADCELL D45MM F50N 50 100 1.75 1.75 45 19 17 0.04

3703B 6 AXIS LOADCELL D45MM F100N 100 200 3.5 3.5 45 19 17 0.04


3713A 6 AXIS LOADCELL D45MM F400N 400 800 14 14 45 19 17 0.11

3713B 6 AXIS LOADCELL D45MM F800N 800 1600 28 28 45 19 17 0.11


3713D 6 AXIS LOADCELL D45MM F3200N 3200 6400 112 112 45 19 17 0.11

3704B 6 AXIS LOADCELL D70MM F100N 100 200 5.5 5.5 70 23 30 0.12


3704C1 6 AXIS LOADCELL D70MM F200N 200 400 11 11 70 23 30 0.12

3704CP 6 AXIS LOADCELL D70MM F200N IP68 200 400 11 11 70 23 30 0.12



3714B1 6 AXIS LOADCELL D70MM F800N 800 1600 44 44 70 23 30 0.29

3714B3 6 AXIS LOADCELL D70MM F900N W/DAS & CAN BUS 900 1800 100 100 70 23 * 0.29

3714BP 6 AXIS LOADCELL D70MM F800N IP68 800 1600 44 44 70 23 30 0.29


3714C2 6 AXIS LOADCELL D70MM F1600N W/DAS & CAN BUS 1600 3200 88 88 70 23 * 0.29

3725A 6 AXIS LOADCELL D85MM F200N WITH DAS 200 400 50 50 88 20 13 0.54




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M37XX series






3715BT1 6 AXIS LOADCELL D90MM F800N DIGITAL OUTPUT 800 1600 56 56 90 23 * 0.45


3715CT1 6 AXIS LOADCELL D90MM F1600N DIGITAL OUTPUT 1600 3200 112 112 90 23 * 0.45






3716AT1 6 AXIS LOADCELL D135MM F400N DIGITAL OUTPUT 400 800 40 40 135 25 * 1.00

3716AP 6 AXIS LOADCELL D135MM F400N IP68 400 800 40 40 135 25 80 1.00


3716BP 6 AXIS LOADCELL D135MM F800N IP68 800 1600 80 80 135 25 80 1.00


3716CR 6 AXIS LOADCELL D135MM F1600N DIGITAL OUTPUT 1600 3200 160 160 135 25 * 1.00


3716DR 6 AXIS LOADCELL D135MM F3200N DIGITAL OUTPUT 3200 6400 320 320 135 25 * 1.00

6 Axis F/T sensor (Robot & General Testing


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M43XX Provides 3 to 10 times overload protection. IP65 protection, integrated with low-noise amplifiers for some models, nonlinearity & hysteresis 0.5%, crosstalk 3%.

M43XX series 6 Axis F/T Sensor (Industrial Application)



4313A 6 AXIS LC D85MM F100N ,DIGITAL 100 200 8 8 85 26.5 * 0.23

4325B 6 AXIS LC D91MM F200N ,AMP 200 400 20 20 91 36 * 0.77

4325BT1 6 AXIS LC D91MM F200N ,DIGITAL 200 400 20 20 91 36 * 0.77

4325K 6 AXIS LC D91MM F200N ,AMP 200 400 20 20 91 31 32 0.56

4325M 6 AXIS LC D91MM F400N ,AMP 400 800 40 40 91 31 32 0.56

4325R 3 AXIS LC D91MM F3000N ,AMP 3000 4000 NA NA 100 30 * 1.30

4325S 3 AXIS LC D91MM F2000N ,AMP 2000 2000 NA NA 100 30 * 1.30

4336A 6 AXIS LC D91MM F130N ,AMP,DECOUPLED 130 130 9 9 91 37.2 * 0.59

4344A 6 AXIS LC D180MM F400N ,AMP 400 400 50 50 180 37.2 85 1.60

4344B 6 AXIS LC D180MM F800N ,AMP 800 800 120 120 180 37.2 85 3.10

4344C 6 AXIS LC D180MM F1600N ,AMP 1600 1600 240 240 180 37.2 85 3.10

4344D 6 AXIS LC D180MM F3200N ,AMP 3200 3200 480 480 180 37.2 85 3.10

4347B 6 AXIS LC D280MM F4000N ,AMP 4000 4000 800 800 280 51 * 9.90

4347D 6 AXIS LC D280MM F15KN ,AMP 15000 30000 6000 6000 280 51 * 9.90

4347K 6 AXIS LC D280MM F6KN ,AMP,DECOUPLED 6000 12000 2500 2500 280 51 * 9.90

4347M 6 AXIS LC D280MM F15KN ,AMP,DECOUPLED 15000 30000 6000 6000 280 51 * 9.90


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M38XX series are matrix-decoupled with high accuracy, nonlinearity and hysteresis less than 0.5%, crosstalk less than 2%, overload protection from 600% to 1000%. suited for robot application for high-precision assembling and wind tunnel testing. Integrated amplifiers or DAQ for those larger than 75mm, IP60 protection.

M38XX series 6 Axis F/T Sensor - Low capacity & High Accuracy



3813A 6 AXIS LOADCELL D45MM F40N 40 40 1.5 1.5 45 35 * 0.20

3813B 6 AXIS LOADCELL D45MM F70N 70 70 3 3 45 35 * 0.20

3813C 6 AXIS LOADCELL D45MM F130N 130 130 6 6 45 35 * 0.20

3813E 6 AXIS LOADCELL D45MM F520N 520 520 24 24 45 35 * 0.20




3815D 6 AXIS LOADCELL D75MM F260N 260 260 20 20 75 35 * 0.41

3815D2 6 AXIS LOADCELL D75MM F260N 260 260 20 20 75 35 * 0.41




3816D 6 AXIS LOADCELL D100MM F260N 260 260 28 28 100 35 * 0.69

3816E 6 AXIS LOADCELL D100MM F520N 520 520 56 56 100 35 * 0.69

3816AH 6 AXIS LOADCELL D100MM F40N 40 40 3.5 3.5 100 35 * 0.69

3816BH 6 AXIS LOADCELL D100MM F70N 70 70 7 7 100 35 * 0.69

3816CH 6 AXIS LOADCELL D100MM F130N 130 130 14 14 100 35 * 0.69

3816DH 6 AXIS LOADCELL D100MM F260N 260 260 28 28 100 35 * 0.69

3816EH 6 AXIS LOADCELL D100MM F520N 520 520 56 56 100 35 * 0.69


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M39XX series is structurally decoupled with large capacity up to 291600N, diameter from 60m to 135mm, overload 150%, nonlinearity & hysteresis 1%, crosstalk 5%. IP60 protection. 39XX series can be made to IP68 (10m underwater) by adding “P” to the part number (e.g. M3965P)

M39XX series 6 Axis Loadcell – Large Capacity

Model DescriptionCapacity (N/Nm) Dimension(mm) Mass


3923 6 AXIS LOADCELL D60MM F2700N 2700 5400 120 96 60 40 15 0.18




3933B2 6 AXIS LOADCELL D60MM F5400N,DIGITAL OUTPUT 5400 10800 240 192 60 40 * 0.48

3933P 6 AXIS LOADCELL D60MM F5400N IP68 5400 10800 240 192 60 40 15 0.48



3935M 6 AXIS LOADCELL D135MM F5400N 5400 10800 540 432 135 40 70 1.95

3935Z1 6 AXIS LOADCELL D135MM F5400N 5400 10800 540 432 135 40 70 1.95


3943F 6 AXIS LOADCELL D60MM F16200N 30000 50000 NA NA 60 35 * 0.62



3945-3X 6 AXIS LOADCELL D135MM F16200N 16200 32400 NA NA 135 50 57 2.90




3965P 6 AXIS LOADCELL D135MM F145800N IP68 145800 291600 13500 10800 135 120 47 7.40

3993P 6 AXIS LOADCELL D135MM F145800N, 12 CHNS 145800 291600 13500 10800 135 120 47 7.40

3955C 6 AXIS LOADCELL D135MM F48600N, 12 CHNS 48600 97200 4500 3600 135 75 57 5.00


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M35XX series are patented 6 axis F/T sensor with thickness of 9.2mm, thinnest commercially available. The sensors are matrix-decoupled, nonlinearity & hysteresis 1%, crosstalk 3%, overload 300%, IP60 protection.

M35XX Series 6 Axis F/T sensor – Extra Thin

M3612X series 6 Axis Force Platform



3552B EXTRA THIN 6 AXIS LC D30MM F150N 150 250 2.25 2.25 30 9.2 5 0.01

3552C EXTRA THIN 6 AXIS LC D30MM F300N 300 500 4.50 4.50 30 9.2 5 0.03

3552D EXTRA THIN 6 AXIS LC D30MM F600N 600 1000 9.00 9.00 30 9.2 5 0.03

3553B EXTRA THIN 6 AXIS LC D45MM F150N 150 250 3.50 3.50 45 9.2 9 0.03

3553B1 EXTRA THIN 6 AXIS LC D45MM F150N 150 250 3.50 3.50 45 9.2 9 0.03



3553E EXTRA THIN 6 AXIS LC D45MM F1200N 1200 2000 27.00 27.00 45 9.2 10 0.06



3554E EXTRA THIN 6 AXIS LC D60MM F1200N 1200 2000 40.00 40.00 60 9.2 21 0.11


3564F EXTRA THIN 6 AXIS LC D65MM F2500N 2500 5000 200.00 100.00 65 9.2 10 0.19



3612A 6 AXIS FORCE PLATE 400 X 600MM 1250 2500 500 500 400 600 100 36.00

3612B 6 AXIS FORCE PLATE 400 X 600MM 2500 5000 1000 1000 400 600 100 36.00

3612C 6 AXIS FORCE PLATE 400 X 600MM 5000 10000 2000 2000 400 600 100 36.00

3613B 6 AXIS FORCE PLATE 400 X 600MM + WINDOW 2500 5000 1000 1000 400 600 120 40.10

3612BT 6 AXIS FORCE PLATE 400 X 600MM, COUPLED 2500 5000 1000 1000 400 600 100 36.00

3614BT 6 AXIS FORCE PLATE 450 X 450MM, COUPLED 2500 5000 800 600 450 450 100 30.00


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M33XX series structurally decoupled, designed for industrial application with 10 times overload capacity, IP65 protection, embedded low-noise amplifier, nonlinearity & hysteresis 1%, crosstalk 5%.

M33XX series 6 Axis F/T Sensor for Industrial Application



3314A 6 AXIS LC D104MM F165N W/ OL STOPS&AMP 165 495 15 15 104 40 * 1.25

3314A2 6 AXIS LC D104MM F165N W/ OL STOPS&AMP 165 495 15 15 104 40 * 1.25

3314A4 6 AXIS LC D104MM F165N W/ OL STOPS&AMP 165 495 15 15 104 40 * 1.25

3314B 6 AXIS LC D104MM F330N W/ OL STOPS&AMP 330 990 30 30 104 40 * 1.25

3314C 6 AXIS LC D104MM F660N W/ OL STOPS&AMP 660 1980 60 60 104 40 * 1.25

3314C2 6 AXIS LC D104MM F660N W/ OL STOPS&AMP 660 1980 60 60 104 40 * 1.25

3314C3 6 AXIS LC D104MM F660N W/ OL STOPS&AMP 660 1980 60 60 104 40 * 1.25





M2210XX series are torque sensor, specific designed for robot joints, with volume applications for collaborative and medical robots. The sensor thickness from 7mm, diameter 53 to 100mm, torque capacity from 20Nm to 300Nm, embedded amplifier, Input 5V, Output 0 - 5V.


(Kg)FX,FY FZ MX,MY MZ OD Height ID2210A TORQUE SENSOR D53MM T50NM NA NA NA 50 53 7 13 0.09

2210A2 TORQUE SENSOR D53MM 50Nm NA NA NA 50 53 7 13 0.09

2210A9 TORQUE SENSOR D53MM 50Nm NA NA NA 50 53 7 13 0.09

2210B TORQUE SENSOR D53MM T250NM NA NA NA 250 100 8 27 0.37

2210B1 TORQUE SENSOR D53MM T250NM NA NA NA 250 100 8 27 0.37




2210B5 TORQUE SENSOR D53MM T250NM HIGH BENDING NA NA NA 250 100 26.2 27 0.96

2210C TORQUE SENSOR D53MM T100NM NA NA NA 100 80 7 20 0.18

2210C1 TORQUE SENSOR D53MM T100NM NA NA NA 100 80 7 20 0.18

M22XX series Robot Joint Torque Sensor


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2210D TORQUE SENSOR D100MM T300NM NA NA NA 300 100 8 14 0.38

2210E TORQUE SENSOR D53MM T60NM NA NA NA 60 53 7 13 0.09

2210F TORQUE SENSOR D53MM T30NM NA NA NA 30 53 7 13 0.09

2210G TORQUE SENSOR D84MM T150NM OIL SEAL NA NA NA 150 84 12.5 * 0.32

2210G3 TORQUE SENSOR D84MM T180NM OIL SEAL NA NA NA 180 84 12.5 17 0.32

2210H TORQUE SENSOR D53MM T50NM NA NA NA 50 53 7 13 0.09

2210L TORQUE SENSOR D53MM T60NM NA NA NA 60 53 7 13 0.09

2210M TORQUE SENSOR D53MM T20NM NA NA NA 20 53 7 13 0.09

2210N TORQUE SENSOR D62MM T50NM NA NA NA 50 62 7 12 0.14

2210P TORQUE SENSOR D146MM T250NM NA NA NA 250 146 34 22 0.38

2210R TORQUE SENSOR D104MM T150NM NA NA NA 150 104 25 16 0.20

2210S TORQUE SENSOR D41MM T40NM NA NA NA 40 41 7 11 0.05

2210T TORQUE SENSOR D103MM T330NM NA NA NA 330 103 6 26 0.14

2210U TORQUE SENSOR D103MM T150NM NA NA NA 150 103 5 19 0.14

2210V TORQUE SENSOR D101MM T150NM NA NA NA 150 101 13.25 16.4 0.10

2210W TORQUE SENSOR D66MM T50NM NA NA NA 50 66 7 19 0.12

2210Y TORQUE SENSOR D61MM T50NM NA NA NA 50 61 8.5 13 0.12

2211A TORQUE SENSOR D82MM T150NM NA NA NA 150 82 22 26 0.26

2211B TORQUE SENSOR D110MM T250NM NA NA NA 250 110 22 37 0.39

2211D TORQUE SENSOR D58.5MM T50NM NA NA NA 50 53.5 11.5 12 0.12

2211D1 TORQUE SENSOR D58.5MM T50NM NA NA NA 50 53.5 11.5 12 0.04

2211G TORQUE SENSOR D45MM T10NM NA NA NA 10 45 6 13 0.03

2211H TORQUE SENSOR D63MM T50NM NA NA NA 50 63 12 11 0.04

2211J TORQUE SENSOR D118MM T250NM NA NA NA 250 118 13 44 0.69

2211K TORQUE SENSOR D72MM T50NM OIL SEAL NA NA NA 50 72 12 * 0.32

2211M TORQUE SENSOR D50MM T40NM DUAL CHANNEL NA NA NA 40 50 8.2 11 0.07

2211N TORQUE SENSOR D60MM T80NM DUAL CHANNEL NA NA NA 80 60 8.2 11 0.10

2211P TORQUE SENSOR D70MM T140NM DUAL CHANNEL NA NA NA 140 70 10.2 16 0.19

2211Q TORQUE SENSOR D85MM T250NM DUAL CHANNEL NA NA NA 250 85 10.2 20 0.28

2211T1 TORQUE SENSOR D86MM T200NM NA NA NA 200 86 8 * 0.30

2211T2 TORQUE SENSOR D86MM T100NM NA NA NA 100 86 8 * 0.30

M22XX series Robot Joint Torque Sensor


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SRI offers special single or multi-axis loadcell for industr ial and academic applications. Some are specif ic for ABB, and have been widely used in industr ial manufacturing l ines.

M8301 and M8302 are amplif iers specif ic for SRI 6 axis F/T sensor, dimensions 56*60*23mm. M8301 has HIROS connectors. M8302 are hard-wired. Power supply DC24, Output choices: single-ended 0-10V or -5V～+5, differential +/-5V or +/-10V.

M21XX series, M36XX series Uniaxial and Special Loadcell

M830X series Amplifier

Model Differential output Single-ended output ConnectorM8301A ±10V（Common mode 0V） N/A HIROSE

M8301B ±5V（Common mode 0V） N/A HIROSE

M8301C N/A +Signal ±5V,-Signal 0V HIROSE

M8301F N/A +Signal 0～10V,-Signal 5V HIROSE

M8301G N/A +Signal 0～5V,-Signal 2.5V HIROSE

M8301H N/A +Signal ±10V,-Signal 0V HIROSE

M8302A ±10V（Common mode 0V） N/A Hard-wired

M8302C N/A +Signal 0～5V,-Signal 2.5V Hard-wired

M8302D ±5V（Common mode 0V） N/A Hard-wired

M8302E N/A +Signal ±5V,-Signal 0V Hard-wired

M8302H ±1.5V（Common mode 0V） N/A Hard-wired

Model Description Capacity (N/Nm) Dimension (mm) Mass(Kg)FX,FY FZ MX,MY MZ OD Height ID

2104B SINGLE AXIS TOUCH LOADCELL W/ OL STOPS 10N NA 10 NA NA 10 10 50 0.012

2106A UNIAXIAL TOUCH SENSOR W/ OL STOPS NA 5 NA NA 14 8.5 47 0.01

2106B UNIAXIAL TOUCH SENSOR W/ OL STOPS NA 10 NA NA 14 8.5 47 0.01

2108 UNIAXIAL SENSOR W/ OL STOPS FOR RB120 NA 100 NA NA DIA 89 * 27 0.24

2108B UNIAXIAL SENSOR W/ OL STOPS FOR RB120 NA 100 NA NA 89 27 * 0.24

2110B UNIAXIAL TOUCH SENSOR W/ OL STOPS NA 5 NA NA 60 11.2 70 0.13

2112B UNIAXIAL SENSOR W/ OL STOPS FOR RB120 NA 200 NA NA DIA 89 * 27 0.24

2112B1 SINGLE AXIS TOUCH LOADCELL W/ OL STOPS 200N NA 200 NA NA 89 27 * 0.24

2125 UNIAXIAL SENSOR, SMALL, HIGH CAPACITY NA 4500 NA NA DIA 21 * 8.9 0.15

3619A UNIAXIAL LOADCELL, IP68 NA 12000 NA NA DIA 24 * 55 0.10

3619B UNIAXIAL LOADCELL, IP68 NA 40000 NA NA DIA 50 * 100 0.58

3619C UNIAXIAL LOADCELL, IP68 NA 80000 NA NA DIA 50 * 100 0.58

3619D UNIAXIAL LOADCELL, IP68 NA 100000 NA NA DIA 50 * 100 0.58

3621P UNIAXIAL LOADCELL WITH AMP, IP68 NA 5000 NA NA DIA 45 * 21 0.17

3624A UNIAXIAL LOADCELL, IP68 NA 13000 NA NA DIA 25 * 43 0.10

3604A 6 AXIS SHOE CELL COUPLED 1500N 800 1600 200 100 112 275 15 0.86


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The interface box M812X provides excitation to the F/T sensor, signal condit ioning and data acquisit ion. M8128 supports Ethernet, RS232 and CAN, and M8126 supports EtherCAT and RS232, M812X has low-noise instrumentation amplifier and 24 bit A/D. Resolution is up to 1/5000～1/10000FS, sampling rate up to 2KHZ. Sensor connects to the interface box via Lemo FGG.2B.319.CLAD52Z.

Specifications:

﹒Analog– 6 channels analog input– Programmable gain– Programmable adjustment of zero offset– Low noise instrumentation amplifier

．Digital– M8128: Ethernet TCP/IP、RS232、CAN– M8126:EtherCAT、RS232– 24 bit A/D, Sampling rate up to 2KHZ– Resolution 1/5000～1/10000FS

．Front Panel– Sensor connector: LEMO FGG.2B.319.CLAD52Z– Communication connector: Standard DB-9 – Power: DC 12～36V, 200mA. 2m cable (diameter 3.5mm)– Indicated light: Power and status

．Software– iDAS RD: Debugging software, to display curve in real-time, and to send command to the interface box M812X– Sample code:: C++ source code, for RS232 or TCP/IP communication

with M8128

Software iDAS RD

Computer or Controller

F/T Sensor

Lemo Connector

M8128

EthernetRS232CAN

M812X Interface Box - Data Acquisition System


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The intelligent grinder (iGrinder), patented technology from SRI, consists of a floating device and a controller. The grinding force and floating displacement are monitored by an embedded force and position sensors. iGrinder can float both axially and radially.

There are two types of iGrinder: Light-weighted and Heavy-duty. The heavy-duty version is designed for grinding of risers and flashes of cast iron, and the light-weighted version is for grinding and polishing of welding joints or burrs from parts with materials like steel, aluminum, plastic and wood.

PatentediGrinder® Floating axially

and radially, minimum floating force 20N

Radially floatingAxially floating

iGrinder® is equipped with both axial and radial displacement sensors. Grinding process can be optimized when the displacement data is combined with robot coordinates.

iGrinder® special 6 axis force/torque sensor, which is inserted between motor and floating device, is much more sensitive to grinding force due to separation from the heavy motor.

iGrinder® has patented structure, with the floating device at the tool end, and the motor at the rear. The motor weight is taken by the robot, and has no effect on the sensitivity of the floating device, which will make high-power grinding with force control possible

Position Sensor Six axis F/T sensorMotor

Floating both axially and radiallyConstant grinding force, adjustable real-timeForce and position sensorsMotor power from low to high

Integrated 6 axis force / torque sensor

Special dust proof design

iGrinder® Intelligent Grinder

Heavy Duty iGrinder


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Tilt sensor

Measurement of robot orientation in real time, auto compensation to achieve constant grinding force at any robot posture.

Force sensor

iGrinder® Integrated with force sensor, force feedback in real time for electric-pneumatic servo control

Position sensor

iGrinder® Integrated with displacement sensor. Real-time measurement of axial motion of the floating device. Intelligent grinding is possible when combined with robot coordinates.

Grinding/polishing tool

Electric and pneumatic grinding tool

Patented

Axial floating with constant forceElectric-pneumatic servo control, response time 5ms, constant force +/-2NAdaptable to various motors with different power Integrated with force and displacement sensor, auto compensation of robot orientation

Communication with Ethernet, EtherCAT, RS232 and I/0Patented dust-proof, water-proof design

Light-weight iGrinder


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The grinding system includes a robot, iGrinder M5307, grinding tool, controller M8412A and electr ic-pneumatic servo valvenM5151B.

There are three air ports in M5307, where A & B are air intake ports, and connects to Ports A&B in servo valve 5151B. C is the air outlet port, and is guided to outside the grinding for better protection from grinding dust.

Electric-pneumatic servo valve M5151B must be placed upright. A pressure reduced valve is required for the air supply. Compressed air should be dried with pressure 0.35 to 0.6Mpa.

Patented

iGrinder

Controller

Servo Valve

Grinding system with light-weight iGrinder


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Step 1: Scanning when grinding

Robot follows pre-determined tool path, with grinding floating

Robot moves fast at the first pass

Record the displacement of the floating grinding

Step 2: Tool path correction

Based on the scanning displacement data, adjust the robot tool path or grinding strategy

Step 3: Grinding with force control

Robot follows the corrected tool path with updated grinding strategy, to perform grinding with force control. Return to Step 2 until grinding is finished based on latest scanning data

Intelligent Grinding Method Patented


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iGrinder® Yaskawa system is relatively simple, with Ethernet connection and a few I/O

I/0 Router

Tool withcontrolerRobot Main Control

System

Ethernet

Grinder controller

Grindingtool

Ethernet

Ethernet

Motor speedMotor temperature

6 axis F/T sensorAxial displacementRadial displacement

The software platform for intelligent grinding is based on YASKAWA robot system. The platform utilizes the low-level API in Yaskawa controller, with control cycle of 8ms. SRI provides a series of grinding commands, programmable at a PC or at Teach Pendant.

SRI iGrinder OP2.0项目管理参数管理系统状态数据管理日志管理

圆盘打磨

一号工位进料一号工位打磨一号工位出料

二号工位进料二号工位打磨二号工位出料

磨头工作流程

机器人工装磨头一号工装一号打磨二号工装二号打磨

Programming at Teach Pendant Backstage of grinding software

YASKAWA Intelligent Grinding System

Software Platform for Intelligent Grinding


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Sample of Teach Pendant programming:

0000 NOP0001 SKILLSND "sriRun" //Initiation of grinding software0002 SKILLSND “sriLoadCG” // Loading CG parameters0003 SET I00000004 SKILLSND “sriZeroOffsetRun” // Removing zero offset for force data0005 SKILLSND "sriSafeLoad" // Loading instructions for safety protection0006 SET S000"FT01"0007 SKILLSND "sriSafeEnable"// Initiation of force control safety protection0008 SET B00000009 SET I000200010 SET I00130011 SET D00000012 SET D00100013 SET D00200014 SET D00300015 SET D00400016 SET D00500017 SKILLSND "sriMovTo" //Move to the starting point0018 WAIT B000=10019 SET B00000020 SET I00020 // Grinding speed0021 SET I0013 //Set tool coordinate system0022 SET S000"CoordData/ Point" //Key points of the grinding tool path0023 SET S001"Spline" //Curve pattern of the tool path0024 SET S002"FC01" //Force-control grinding method0025 SKILLSND "sriGrind" //Grinding0026 WAIT B000=10027 END

YASKAWA Intelligent Grinding - Programming


www.srisensor.com

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Model Selection

Model #

Floating Floating ForceDisp

accuracy(mm)

Force accuracy

(N)Grinding Power Tool Mass

(kg)Axial(mm)

Radial(Degree) Axial (N) Radial

(N)

M5307A 12 NA 5 - 100 NA 0.01 +/-2 Supplied by user 2.5

M5307B 25 NA 5 - 150 NA 0.01 +/-2 Supplied by user 3.2

M5307C 50 NA 15 - 200 NA 0.01 +/-2 Supplied by user 7.2

M5301E1 NA +/-6 NA 20-500 0.5 +/-10 High speed motor,5.5KW, 6kRPM 43

M5301E2 +/-8 +/-6 30N/mm 20-500 0.5 +/-10 High speed motor,5.5KW, 6kRPM 43

Note: Contact SRI for special order


Factory: 19 Ke Yuan Xi Shi RoadNanning, Guangxi, China 530007

Phone: +86-771-3899499

Email : [email protected] Web: www.srisensor.com

Mobile: +86-13707880181

USA Office2339 Pontiac Trail，Ann，Arbor，MI 48105，USATel：+1-734-249-9902Email：[email protected]

Korea：Kyoung- Tea Min，KTINCRm 1406，ACE Pyeongchon Tower361 SIMIN-DAERO，DONGAN-GU，ANYANG-SI，GYEONGGI-DO，S. KOREAMobile ：010-8650-8498Tel ：+31-383-8498Email：[email protected]

Taiwan：John Pai，MEMS TECHNOLOGY CORP.6F.，No. 192，Sec.3，Chongyang Rd.，Sanchong Dist., New Taipei City 241, TaiwanTel ：+886-2-2982-1580 ext.215Mobile ：+886-920-306060Email：[email protected]

Sunrise Instruments

mailto:Email:[email protected]


mailto:[email protected]



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