::heading=Context
This articles presents FT300S measurement specificities.
::heading=Knowledge
The FT300S is designed to perform relative force and torque measurement on a short period of time with similar orientation.
The specification in the manual states that, for a duration of 1s, the standard deviation FT300S Fz force is 0.1N and relative force measurement are recommended from 1N.
This is correct but there are some specificities:
- the force measured by the FT300S will offset with time and environmental condition. After 5 to 10 min it is possible to observe an offset of 10-20N.
- if you apply strong force on the FT300S and then leave the FT300S at rest, some inside deformation may remain. Those remaining deformation can cause on offset of about 3N.
- changing the orientation of the sensor can cause some offset. This offset is mainly cause by the payload attached to the FT300S (which is compensated by Force Copilot software on Universal Robot) but there si also an offset which come from the FT300S itself. This offset can be of more than 5N.
Knowing that it is recommended to:
- use the FT300S on short period of time and right after setting all readings to zero. If you are doing a long finishing application, it may be good to split it in several sections.
- use the FT300S for relative force measurement with similar orientation.
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