FAQ
General Questions
Answers to the questions our customers ask most often.
Select a question to see the answer.
Do you offer sample pricing?
We don't offer separate sample pricing. All units are supplied at standard pricing.
Are demo kits available to rent?
We don't currently offer demo kit rentals. If you'd like to evaluate a sensor, contact our team to discuss options.
How do repairs work?
Most conditions — cable damage being the main exception — are handled through a trade-in replacement rather than a repair. Send us the product name and serial number and we'll confirm which applies to your unit.
6-axis F/T Sensor (AFT200-D80)
Answers to the questions our customers ask most often.
Select a question to see the answer.
Can I order a custom cable length?
The sensor ships with a 1.5 m cable. We also stock 5 m and 10 m lengths — just note which you need when you place your order.
How do I extend the cable?
You can splice an extension yourself, or order the sensor with a 5 m or 10 m cable instead.
Does the sample program run on anything besides Windows?
Yes. Linux is supported, and if you're using an eCAN device the sample code in the e-manual will run as-is.
Where do I find the Linux sample code?
Basic examples ship with the e-manual. We're publishing more extensive examples on our Git page as they're released.
Is Python supported?
Yes — both the CAN (eCAN) and ENET variants work from Python. Extended examples are being added to our Git page.
What C support do you provide?
C sample code is included for every interface (CAN, Ethernet, EtherCAT). The EtherCAT variant also ships with C code for SOEM integration.
Does it work with ROS?
Yes. Extended ROS examples are being added to our Git page.
Do you have a guide for CAN-to-EtherCAT, or a converter you recommend?
We don't publish a dedicated guide, but EtherCAT-to-CAN converters work fine. We'd suggest a dedicated gateway converter matched to your environment.
What about CAN-to-Ethernet?
SystemBase's eCAN works with our sample code out of the box.
Can I get the EtherCAT sample code?
It's in the e-manual. The EtherCAT variant includes C code for SOEM integration.
Can I use the sensor with DAQ hardware?
Not directly. Any device that speaks CAN, Ethernet, or EtherCAT can connect, but you'll need to write the code and configure communication yourself.
Can I use it with a PLC?
Yes, as long as the PLC supports CAN, Ethernet, or EtherCAT.
How do I set it up in BECKHOFF TwinCAT?
Download the XML file from the e-manual and follow the configuration example there.
How do I verify the sensor's output?
We don't ship separate verification software, but running the sample code lets you monitor live output data.
What are the resolution, repeatability, and accuracy figures?
Resolution 0.15 N / 0.015 Nm, repeatability 1.5%, accuracy 1.5%.
Is there an API?
Not as a packaged API today. The sample code in the e-manual gives you everything you need to build your own wrapper.
Miniature 6-axis F/T Sensor
Answers to the questions our customers ask most often.
Select a question to see the answer.
Which CAN protocol does it use?
Standard CAN 2.0A. See the connection and output data format section of the manual for packet structure.
How are CAN IDs assigned?
Three-axis force and three-axis torque are sent on separate IDs — two in total. The defaults are 0x1A and 0x1B (26 and 27 decimal). You can request different IDs when ordering.
Why can only the factory change the CAN ID?
On the AFT200 and the ATSB joint torque sensor, the ID can be changed over CAN. The miniature sensors don't have the on-chip capacity for this, so the ID is set at the factory. Send the unit back to us if you need it changed.
How many sensors can I run on one bus?
Wire the CAN lines in parallel and a single CAN device can collect from multiple sensors — see the multi-sensor wiring diagram in the manual. AFT-MINI outputs around 100 bps, so a standard 1 Mbps CAN-to-USB adapter handles up to 10 units. Specify your CAN IDs in advance when ordering for multi-sensor use.
Are the miniature sensors waterproof?
No. Their size and construction rule out an ingress rating, so avoid humid environments and keep them away from liquids.
Do I need to add a CAN termination resistor?
Yes. We ship without an internal termination resistor so the sensor suits a wider range of bus topologies.
Can I increase the 100 Hz sample rate?
No — the miniature sensors are fixed at 100 Hz. Only the AFT200-D80 and the ATSB joint torque sensor support up to 1 kHz.
Can I reduce noise or improve resolution?
Filtering helps. The miniature sensors have no onboard filter, so you'll need to apply one on your side.
Can you supply extra conversion boards?
We include one off-the-shelf FFC-DIP board for testing. We don't supply spares, but they're widely available online.
How do I connect the supplied cable?
The cable set includes a D-SUB 9P connector for CAN and a USB cable for power.
Do I need to tighten every bolt?
Yes, we recommend fastening all of them — but keep the torque under 0.1 Nm to avoid damaging the sensor.
Does the sample program run on anything besides Windows?
The sample program is built around the IXXAT CAN-to-USB converter and runs on Windows only.
Is there Linux sample code?
It's planned for release this quarter.
Does it work with ROS?
ROS support is on the roadmap.
Joint Torque Sensor
Answers to the questions our customers ask most often.
Select a question to see the answer.
Is this a rotary torque sensor?
No — it's a static (reaction) torque sensor. It measures transmitted torque through very small deflections, within 0.05 degrees.
Where does the cable exit, and what connector does it use?
The cable exits from the side of the inner mounting face and routes out through the central bore. It's supplied open-ended, without a connector.
Can I order a custom cable length?
The standard length is 1 m. Custom lengths are available for volume orders only.
How do I extend the cable?
Follow the cable map in the manual. We recommend connecting the shield line tied to GND as well, and keeping the total run under 3 m.
Do I need to add a CAN termination resistor?
Yes. We ship without an internal termination resistor. Fit 60–120 ohms between CAN HIGH and LOW. On a multi-sensor bus, use one 120 ohm resistor at each end, or a single 60 ohm resistor.
Any precautions when fastening the bolts?
Fasten all of them, and follow the torque values in the product manual.
Does the thickness of the mating parts matter?
Yes. Thin link parts on either side can flex, which prevents accurate torque transfer. We recommend 10 t or thicker.
Any precautions during assembly?
The parts on either side of the sensor should contact only the bolt face and the tolerance face. Leave at least 0.1 mm of clearance around the cover, and fasten to the specified torque.
Can I remove the cable or cover?
Removing either can affect measurement accuracy. If a unit needs repair because of damage or a broken wire, contact us rather than opening it.
Do I need to send a command to start data output?
No. The sensor starts streaming as soon as power is applied, at the configured rate.
What do resolution, repeatability, and accuracy mean here?
Resolution is the smallest change the sensor can distinguish — anything below it is noise. Repeatability describes how closely readings agree when the same load is applied repeatedly. Accuracy describes the error between the reading and the true value.
Can I reduce noise or improve resolution?
Filtering helps. The torque sensor has no onboard filter, so apply one on your side.
Does it have an IP rating?
No. Avoid humid environments and keep the sensor away from liquids.
Does it still read torque beyond the measurement range?
It keeps outputting data, but the values aren't accurate. Performance is specified within the measurement range; beyond it, non-linearity and error increase.
Which CAN protocol does it use?
Standard CAN 2.0A. See section 2.4, Communication, in the manual for packet structure.
Does the sample program run on anything besides Windows?
The sample program is built around the IXXAT CAN-to-USB converter and runs on Windows only. Sample code for Linux and for C/C++/Python is in progress.
Do you provide sample code for Python, C/C++, Linux, or ROS?
It's planned for release this quarter.
Do you have a guide for CAN-to-EtherCAT, or a converter you recommend?
We can share a connection guide for the HMS ANYBUS (AB7311-B) on request.