Overview:

Barry Wright Astek FS6-120A 6-axis force sensor, measures 3 axis of force and 3 axis of torque

6-axis force sensor (3/23/2015):

6 axis force sensor

6-axis force sensor (3/23/2015):

Sensor, pneumatic cylinder and rotational compensator

6-axis force sensor (3/23/2015):

Sensor, pneumatic cylinder and rotational compensator

6-axis force sensor (3/23/2015):

Sensor, pneumatic cylinder and rotational compensator

Barry Wright FS6-120A 6-axis force sensor manual

Valid commands (15 character max)
---------------------------
CF=set frame <CFn,x> for n=axis (n=1:3) and x=axis offset (x=-500:+500)
CL=set limits <CLn,x> for n=axis (n=1:6) and x=limit (x=0:3276 for n=1:3, x=0,327697 for n=4:6)
CM=
CP=set passband filter <CPx> for x=(1=240,2=120,3=60,4=30,5=15)
CR=set baud rate <CRx> for x=(1=38400,2=19200,3=9600(default),4=4800,5=2400,6=1200,7=600,8=300)
CT=set rate threshold <CTx> for x=(0 to 4096)
DC=display configuration
DF=display refference frame
DL=display limits
DM=display memory <DMxxxx> for xxxx=address in hex (xxxx=0000 to FFFE)
DP=display passband filter
DR=display rs232 baud rate
DT=display rate threshold
EE=enable echo
EO=enable data output <EOx> for x=optional parm (null=ascii,1=ascii,2=16byte,4=16byte)
IE=disable echo
IL=disable limits
IO=disable data output
IT=disable rate threshold
PC=
PP=
RB=reset bias
RF=reset frame
RL=reset limits
RT=reset threshold
ST=self test

DB9 Cable pinout
---------------------------
1=analog output
2=gnd
3=+12v (~320mA)
4=gnd
5=-12v (~190mA)
6=rs232 txd
7=rs232 rxd
8=gnd
9=NC

Operating hints
---------------------------
EO enables output, in ascii mode it sends back a fixed width 66 character string.

6-axis force sensor (3/23/2015):

Microprocessor board

6-axis force sensor (3/23/2015):

End cap

6-axis force sensor (3/23/2015):

End cap

6-axis force sensor (3/23/2015):

Mechanical limit plate prevents overstressing transducer.

6-axis force sensor (3/23/2015):

Strain gauges

6-axis force sensor (3/23/2015):

Strain gauges

6-axis force sensor (3/23/2015):

Analog board with precision amplifiers

6-axis force sensor (3/23/2015):

Strain gauges

6-axis force sensor (3/23/2015):

Bottom of microprocessor board

6-axis force sensor (3/23/2015):

Bottom of microprocessor board

6-axis force sensor (3/23/2015):

Bottom of microprocessor board

6-axis force sensor (3/23/2015):

Bottom of microprocessor board

6-axis force sensor (3/23/2015):

Bottom of force sensor

6-axis force sensor (3/23/2015):

DC-DC converter to supply +12 and -12v to transducer

6-axis force sensor (3/23/2015):

DC-DC converter box

6-axis force sensor (3/23/2015):

DC-DC converter box with components installed

6-axis force sensor (3/23/2015):

DC-DC converter box with components installed

6-axis force sensor (3/23/2015):

6-axis sensor connected to RS-232 adapter through DC-DC converter box

6-axis force sensor (3/23/2015):

Communicating with censor through terra term

6-axis force sensor (3/23/2015):

Communicating with censor through terra term, sensor outputs data as 66 character ASCII string containing 6 numbers

6-axis force sensor (3/23/2015):

Plotting data in Matlab

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