DATASHEETHEX-E/H QC

v1.3

DATASHEET

1. Datasheet
1.1. HEX-E QC
General Properties

6-Axis Force/Torque Sensor

Unit

FxyFz

TxyTz

Nominal Capacity (N.C)

200200106.5[N] [Nm]

Single axis deformation at N.C (typical)± 1.7± 0.067± 0.3± 2.5± 0.011 ± 2.5±5±5[mm] [°][inch] [°]Single axis overload

500500500500[%]Signal noise* (typical)

0.035

0.15

0.002 0.001

Noise-free resolution (typical)

0.2

0.80.01

0.002 [N] [Nm]Full scale nonlinearity<2<2<2<2[%]

Hysteresis (measured on Fz axis , typical)<2<2<2<2[%]

Crosstalk (typical)<5<5<5<5[%]

IP Classification

67

Dimensions (H x W x L)

50 x 71 x 93
1.97 x 2.79 x 3.66[mm][inch]

Weight (with built-in adapter plates)

0.347
0.76

[kg]
[lb]

[N] [Nm]* Signal noise is defined as the standard deviation (1 σ) of a typical one second no-load signal.
Operating Conditions

Minimum

TypicalMaximum

Unit

Power supply

7-24[V]Power consumption--

0.8

[W]

Operating temperature

032-

55131

[°C]
[°F]

Relative humidity (non-condensing)

0-

95

[%]

Calculated operation life

30 000--[Hours]Re-calibration period*-

15 000**-[Hours]*Notification is provided when factory re-calibration is recommended.
**Based on energized hours.
Best practice for maintaining your calibrated device:•••2

Turn off the HEX sensor when not in use for a longer period.
Offload the HEX sensor when not used for a longer period.
The Auto-calibration software feature is recommended every 2-3 month or when needed.

DATASHEET

Complex Loading
During single-axis loading, the sensor can be operated up to its nominal capacity. Above thenominal capacity the reading is inaccurate and invalid.
During complex loading (when more than one axis is loaded) the nominal capacities arereduced. The following diagrams show the complex loading scenarios.
The sensor cannot be operated outside of the Normal Operating Area (marked with blue on
the diagrams below).

1.2. HEX-H QC
General Properties

6-Axis Force/Torque Sensor

Unit

FxyFz

TxyTz

Nominal Capacity (N.C)

2002002013[N] [Nm]Single axis deformation at N.C (typical)± 0.6± 0.25±2± 0.023 ± 0.009 ± 2± 3.5± 3.5[mm] [°][inch] [°]Single axis overload

500400300300[%]Signal noise* (typical)

0.1

0.20.006 0.002 [N] [Nm]Noise-free resolution (typical)

0.5

10.036 0.008 [N] [Nm]Full scale nonlinearity<2<2<2<2[%]

Hysteresis (measured on Fz axis , typical)<2<2<2<2[%]

Crosstalk (typical)<5<5<5<5[%]

IP Classification67Dimensions (H x W x L)

50 x 71 x 93
1.97 x 2.79 x 3.66[mm][inch]

Weight (with built-in adapter plates)

0.35
0.77

[kg]
[lb]

* Signal noise is defined as the standard deviation (1 σ) of a typical one second no-load signal.

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DATASHEET

Operating Conditions

Minimum

TypicalMaximum

Unit

Power supply

7-24

[V]

Power consumption

--

0.8

[W]

Operating temperature

032-

55
131

[°C]
[°F]

Relative humidity (non-condensing)

0-95[%]

Calculated operation life

30 000--[Hours]Re-calibration period*-7 500**-[Hours]*Notification is provided when factory re-calibration is recommended.
**Based on energized hours.
Best practice for maintaining your calibrated device:•••

Turn off the HEX sensor when not in use for a longer period.
Offload the HEX sensor when not used for a longer period.
The Auto-calibration software feature is recommended every 2-3 month or when needed.

Complex Loading
During single-axis loading, the sensor can be operated up to its nominal capacity. Above thenominal capacity the reading is inaccurate and invalid.
During complex loading (when more than one axis is loaded) the nominal capacities arereduced. The following diagrams show the complex loading scenarios.
The sensor cannot be operated outside of the Normal Operating Area (marked with blue on
the diagrams below).

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DATASHEET

1.3. HEX-E/H QC box content

1.4. HEX-E QC and HEX-H QC Comparison
When the sensor is used in applications where higher sensitivity is needed HEX-E QC is
recommended, where higher payload or tool length is needed HEX-H QC is recommended.
The following graphs show the extent of the payload and the tool length that you can use
together with the HEX-E and the HEX-H sensors in case of applications requiring high ormoderate precision.
Applications requiring high precision (e.g.: force control based applications like Sandingand Pin Insertion)

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DATASHEETOther applications (e.g.: part detection, force monitoring)

In the blue region it is recommened to use only the HEX-E QC.

1.5. HEX-E/H QC* Distance from Robot flange interface to OnRobot toolAll dimensions are in mm and [inches].

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