Replace/Calibrate Force Sensor

Step 1: Remove Force Sensor

1. Connect TeachPad

2. Move the robot to allow easy access to force sensor screws

3. Remove brush by disconnecting the secure pin

4. Place the 2 springs in the lower rod and place the secure pin to prevent losing springs

5. Disconnect the force sensor from the force sensor cable

6. Unscrew the 6 screws connecting the force sensor to the adapter plate (TORX HF-20)

7. Remove the brush holder and the force sensor from the adapter plate

8. Disconnect the force sensor from the brush holder by removing the 4 screws (Hex-Plus5)

   • Verify the seal is placed in the force sensor dedicated grove, if needed place it manually

Always hold the brush holder or the tool side of the force sensor when screwing or unscrewing the force sensor to the brush holder.

Holding the robot side or the rubber part of the force sensor can cause significant damage to the force sensor!

Step 2: Calibrate Force Sensor

1. Connect the calibration tool to power and a computer

2. Connect the force sensor to the calibration tool

3. Place the force sensor on a level surface with robot side facing down

4. Verify that no load is applied on the force sensor

5. In the web browser go to 192.168.1.1

   

6. Press Select to go into the force sensor. If the force sensor is not recognized, check connections

   

7. Go to Auto-Calibration

   

8. Press Calibrate, and on the following pop-up press OK

   

9. Press Close

   

10. Disconnect the force sensor from the calibration tool

Step 3: Install Force Sensor

1. Connect the force sensor to the brush holder by screwing the 4 screws (Hex-Plus5)

   • Verify the seal is placed in the force sensor dedicated grove

2. Place the brush holder and the force sensor in the adapter plate

3. Screw the 6 screws connecting the force sensor to the adapter plate (TORX HF-20)

4. Connect the force sensor to the force sensor cable

5. Connect the brush:

   1. Place the springs according to their origin location (long spring to long rod and short spring to short rod)

   2. insert both rods to the brush holder - long rod at the bottom

   3. Secure the brush with the secure pin

6. Move the robot back to its original position

7. Put TeachPad back to EXT mode

8. Disconnect the TeachPad

9. Power cycle the system