6A55RI 6-Axis Robot Flange Force-Torque Sensor
Fx (N), Fy (N), Fz (N), Mx (Nm), My (Nm), Mz (Nm)
Force: 11.24 to 449.62 lbf
Torque: 44.25 to 442.54 lb-in
Force: 50 N to 2 kN
Torque: 5 Nm to 50 Nm
The 6A55RI is an advanced 6-axis force-torque sensor designed for robotics and medical applications, featuring a Robotic Flange ISO 9409-1 interface. Its integrated EtherCAT P measuring amplifier enables both power supply and data transmission through a single 4-wire connection. The replaceable cable features strain relief beneath the mounting plate, and drag chain-compatible cables are available in 2 m, 5 m, and 10 m lengths. For setup, calibration, and data acquisition, the optional BlueDAQ software with integrated EtherCAT Master provides intuitive configuration and commissioning tools.
The 6A55RI is an advanced 6-axis force-torque sensor designed for robotics and medical applications, featuring a Robotic Flange ISO 9409-1 interface.
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Features and Benefits
- Robotic Flange ISO 9409-1
- EtherCAT P measuring amplifier
- 6-axis force-torque sensor
- 5m EtherCAT P cable, 4-pole, shielded, PUR, suitable for drag chains
- Assembled with EtherCat P M8 circular connector
- Data frequency 1Hz – 1000 Hz
Options
Accessories
- CT-XXX-2M 2-meter cable with M8 EtherCAT P connector
- CT-XXX-5M 5-meter cable with M8 EhterCAT P connector
- CT-XXX-10M 10-meter cable with M8 EhterCAT P connector
- CT-XXY-2M 2-meter cable with RJ45 connector
- CT-XXY-5M 5-meter cable with RJ45 connector
- CT-XXY-10M 10-meter cable with RJ45 connector
Specifications
Specifications
6A55RI SPECIFICATIONS
| Accuracy – (max error) |
| Nonlinearity – %FS | ± 0.2 |
| Hysteresis – %FS | ± 0.2 |
| Nonrepeatability – %RO | ± 0.2 |
| Creep, in 20 min – % | ± 0.1 |
| Temperature |
| Effect on Zero – %RO / deg - °C | ± 0.2 |
| Effect on Output – % / deg - °C | ± 0.05 |
| Operating Range | °C | -10 to +85 |
| °F | +14 to +185 |
| Electrical |
| Rated Output – mV/V (Nominal) | <2 |
| Excitation Voltage – V MAX | 5 |
| Crosstalk – % | 1 |
| Zero Balance − mV/V | < 1 |
| Mechanical |
| Safe Overload – %CAP | 300 |
| Ultimate Overload – %RO | 600 |
| Cable Length | m | 5 |
| ft | 16.4 |
U.S. dimensions and capacities are provided for conversion only. Standard products have International System of Units (SI) capacities and dimensions.
Dimensions
Dimensions
6A55RI Dimensions
| See Drawing | Metric | U.S. |
| mm | in |
| (1) | Ø55.0 | Ø2.17 |
| (2) | Ø31.33 | Ø1.23 |
| (3) | Ø20.0 | Ø0.79 |
| (4) | Ø51.0 | Ø2.01 |
| (5) | Ø38.0 | Ø1.50 |
| (6) | Ø20.0 F7 | Ø0.79 F7 |
| (7) | 50.0 | 1.97 |
| (8) | 46.5 | 1.83 |
| (9) | 13.0 | 0.51 |
| (10) | 3.0 | 0.19 |
| (11) | ca. 9.4 | ca. 0.37 |
| (12) | 45° |
| (13) | 26° |
| (14) | Ø5 H7 +0.012 ↧ 6 ⊕ Ø0.02 A B | Ø0.2 H7 +0.0005 ↧ 0.24 ⊕ Ø0.0008 A B |
| (15) | 4 x Ø4.20 ↧ 6 M5 - 6H ↧ 5.20 | 4 x Ø0.17 ↧ 0.24 M5 - 6H ↧ 0.20 |
| (16) | Connection Cable EtherCAT-P 4p/Shielded/p-coded 5m with M8 Connector ZS7000-0002 | Connection Cable EtherCAT-P 4p/Shielded/p-coded 16.4 ft with M8 Connector ZS7000-0002 |
| (17) | Screw-on Stator |
| (18) | Fixing Pin Bore in X-Direction |
| (19) | Screw-On Measuring Platform |
U.S. dimensions and capacities are provided for conversion only. Standard products have International System of Units (SI) capacities and dimensions.
Connector Pin Diagram
6A55RI Connector Pin Diagram
| Signal | Function | Pin-No. M8 connector | Pin-No. RJ45 |
| TD+ | Transmit data +, GNDs | 1 | 1 |
| TD- | Transmit data - , Us:+24VDC | 4 | 2 |
| RD+ | Receive data + | 2 | 3 |
| RD- | Receive data - | 3 | 6 |
The device requires an EtherCAT P power source device, that superimposes the supplying DC and splits the Ethernet signals for the EtherCAT master.
For more information visit Electrical Wiring Diagrams
Characteristics
6A55RI CHARACTERISTICS
| See Drawing | MODEL |
| 6A55RI | 6A55RI | 6A55RI | 6A55RI | 6A55RI |
| A | B | C | D | E |
| Fx (N) | 50 | 100 | 200 | 500 | 1000 |
| Fy (N) | 50 | 100 | 200 | 500 | 1000 |
| Fz (N) | 100 | 200 | 400 | 1000 | 2000 |
| Mx (Nm) | 5 | 10 | 20 | 25 | 40 |
| My (Nm) | 5 | 10 | 20 | 25 | 40 |
| Mz (Nm) | 5 | 10 | 20 | 25 | 40 |
| Diameter (mm) | 55 | 55 | 55 | 55 | 55 |
| Height (mm) | 50 | 50 | 50 | 50 | 50 |
| Weight (g) | 221 | 221 | 221 | 221 | 221 |
| Material | Aluminum Alloy | Aluminum Alloy | Aluminum Alloy | Aluminum Alloy | Aluminum Alloy |
| Protection (IP) | 65 | 65 | 65 | 65 | 65 |
| Robotic Flange Type | ISO 9409-1-31.33-4-M5 | ISO 9409-1-31.33-4-M5 | ISO 9409-1-31.33-4-M5 | ISO 9409-1-31.33-4-M5 | ISO 9409-1-31.33-4-M5 |
Standard configuration includes a replaceable 5-meter cable with M8 EhterCAT P connector.
Product Video
