DOBOT Accessories | OnRobot HEX 6-Axis Force/Torque Sensor

OnRobot HEX 6-Axis Force/Torque Sensor

A compact six-axis force/torque sensor for force-controlled finishing, assembly, insertion, detection and quality tasks. Choose HEX-E for higher sensitivity or HEX-H for higher torque capacity.
Within the DOBOT's Force Sensor plugin, you can get access to the force/torque signal (Fx,Fy,Fz,Tx,Ty,Tz) of the force/torque sensor with the help of the provided Program templates. These signals are updated at a rate of 125Hz for a high fidelity force/torque sensing.

Product Highlights

Six-axis measurement - captures force and torque across Fx, Fy, Fz, Tx, Ty and Tz
HEX-E and HEX-H variants - choose higher sensitivity or higher torque capacity for the application
Advanced force control - maintains controlled contact in sanding, polishing, deburring and assembly
Optical sensing and IP67 protection - built for reliable use in demanding production environments

Application

Surface finishing

Maintain controlled contact force while sanding, polishing or deburring changing surface contours.

Assembly

Use force feedback to locate parts, guide insertion and detect contact during precision assembly.

Quality inspection

Measure force and torque to verify placement, fit and contact conditions during automated inspection.

Specifications

HEX-E QC

General Properties	6-Axis Force/Torque Sensor				Unit
	Fxy	Fz	Txy	Tz
Nominal Capacity (N.C)	200	200	10	6.5	[N] [Nm]
Single axis deformation at N.C (typical)	± 1.7	± 0.2	± 2.5	± 5	[mm] [°]
Single axis overload	500	500	500	500	[%]
Signal noise* (typical)	0.035	0.15	0.002	0.001	[N] [Nm]
Noise-free resolution (typical)	0.2	0.8	0.01	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				[mm]
Weight (with built-in adapter plates)	0.347				[kg]

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

Operating Conditions	Parameters
Power supply	7 - 24 V
Power consumption	Up to 0.8 W
Operating temperature	0 - 55 °C
Relative humidity (non-condensing)	0 - 95 %
Calculated operation life	At least 30,000 Hours
Re-calibration period ^[1]	15,000 Hours ^[2]

Note:

[1] Notification is provided when factory re-calibration is recommended.

[2] Based on energized hours.

HEX-H QC

General Properties	6-Axis Force/Torque Sensor				Unit
	Fxy	Fz	Txy	Tz
Nominal Capacity (N.C)	200	200	20	13	[N] [Nm]
Single axis deformation at N.C (typical)	± 0.6	± 0.25	± 2	± 3.5	[mm] [°]
Single axis overload	500	400	300	300	[%]
Signal noise* (typical)	0.1	0.2	0.006	0.002	[N] [Nm]
Noise-free resolution (typical)	0.5	1	0.036	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 Classification	67
Dimensions (H x W x L)	50 x 71 x 93				[mm]
Weight (with built-in adapter plates)	0.35				[kg]

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

Operating Conditions	Parameters
Power supply	7 - 24 V
Power consumption	Up to 0.8 W
Operating temperature	0 - 55 °C
Relative humidity (non-condensing)	0 - 95 %
Calculated operation life	At least 30,000 Hours
Re-calibration period ^[1]	7,500 Hours ^[2]

Note:

[1] Notification is provided when factory re-calibration is recommended.

[2] Based on energized hours.

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