Smart 3-axis Force Torque Sensor 3FT2000-D65-C (ENG)

Rev. 2026.10.14

Foreword

Thank you for purchasing our Force Torque sensor. This manual contains the information necessary for the correct use of the AIDIN ROBOTICS 3FT2000-D65 sensor.
Please carefully read this manual when using this software.
Please note that the basic performance of the product will not be exhibited when the robot system is used out of conditions.
This manual describes possible dangers and consequences using Force Torque sensor. Be sure to comply with safety precautions written in this manual to use safety and correctly.

Notice

This manual Do NOT allow copy, reproduction or share without authorization of AIDIN ROBOTICS.
Please notify us any errors in this manual or the provided instructions.

Manufacturer

AIDIN ROBOTICS

Safety Precautions

Installation of Force Torque sensor MUST be performed by qualified personnel in accordance with national and local codes. Please carefully read this manual when using this software.

Warning & Caution

[!CAUTION] This symbol indicates that a danger of possible serious injury or death exists if the associated instructions are not followed properly.

[!WARNING] This symbol indicates that a danger of possible harm to people or physical damage to equipment and facilities exists if the associated instructions are not followed properly.

1. Product Overview

1.1 Smart 3-axis Force Torque Sensor, 3FT2000-D65

1.2 Key features

• Smart 3-axis force/torque sensor
• All-in-one sensor (No additional amplifier)
• Digital output communications (CAN, CAN-FD)
• Easy installation and data collection
• Grippers, robot hands, collaborative robot, industrial robot

1.3 Specifications

Index	Unit	Value
Operating voltage	VDC	5
Max. safe excitation voltage	VDC	12
Nominal force range (F_XYZN)	N	2000
Nominal torque range (M_XYZN)	Nm	100
Limit force (F_XYZL)	N	3000
Limit torque (M_XYZL)	Nm	120
Force Noise-free resolution (STD)	N	12
Torque Noise-free resolution (STD)	Nm	1
Dimensions	mm	D65 x H21
Weight	g
Temperature	℃	10-50
Sample rate	Hz	1000
Interfaces	1,000Kbps	CAN, CAN-FD
Wire	Length: 15 cm	For User: CAN_H / CAN_L / VCC / GND

1.4 Complex Loading Range

The sensor can operate up to its nominal capacity, while a single axis load. On Nominal capacity reading is incorrect and invalid.

The nominal capacity of composite loading is The following diagram illustrates a complex loading scenario. The sensor cannot operate outside the normal operating area

The following graph shows the range of payloads and tool lengths that can be used with 3FT2000-D65 sensor for applications requiring high or moderate precision.

• The total percentage of the calibrated range used by Fz and Txy axes is greater than 105%. Refer to the following Fz, Txy equation.

$$\sqrt{{T_x}^2+{T_y}^2}/{T_{xy}Range} +|{F_z}|/{F_{z}Range} >105 \%$$

2. Installation Guide

2.1 Basic Components

• 3FT2000-D65 x 1 EA

2.2 Mounting

• M4 bolt 3.5 Nm required for tightening
• Performance cannot be guaranteed and A/S not possible when disassembling internal/external bolts
• Sensor mounting example

• CAUTION OF CABLE CUTTING AND EXCESS PULLING
• Secure the sensor line with the robot so that it does not pull as it moves
  • Do not fix it to the robot using cable ties, etc., or use cable ties to fix it in a bundle shape like other wires
  • We recommend that you use Velcro to fix it with the robot, and please use Velcro to fix it when fixing it in a bundle form with other lines

[!NOTE] Performance CANNOT be guaranteed if not followed to the tightening torque guide.

[!NOTE] If the sensor line is not fixed to the robot, the output signal may have a noise due to the pulled by robot

2.3 Axes and Drawings

Drawing File :

• 3FT2000-D65_v1.pdf

2.4 Cable

• Cable pin out
  • Length: 10cm

[!NOTE] To acquire CAN data, a 120 Ω termination resistor is required between CAN H and CAN L.

3. Communication

3.1 Default CAN Setting

• The output rate can be changed from 100 Hz to 1000 Hz
• Please refer to the “3.2 User Commands” below for how to change it
• CAN-2.0
  • Nominal bitrate : 1Mbps
  • Data bitrate : 1Mbps
  • RX ID MASK : 0x220~0x22F, 0x320~0x32F
• CAN-FD
  • Nominal bitrate : 1Mbps
  • Data bitrate : 4Mbps (BRS mode)
  • RX ID MASK : 0x220~0x22F, 0x320~0x32F
• PCAN : CAN-FD PARAMETER SETTING

3.2 User Commands

• RX CAN IDs : 0x223 (CAN 2.0) , 0x323 (CAN FD)
  TX CAN IDs :The pre-configured TX CAN IDs are 0x260 (CAN 2.0) and 0x360 (CAN FD). Accordingly, the 'current TX CAN ID' in the table below is represented as [0x60, 0x02] or [0x60, 0x03] (LSB first).

• Data Transmission Procedure
  The sensor does not automatically output data upon power-up. To receive data, the host must send the CAN MODE configuration command followed by the TRANSMIT DATA request command.
  Example:
  CAN MODE: ID: 0x223, Data: 0x60 0x02 0x04 0x01
  TRANSMIT DATA: ID: 0x223, Data: 0x60 0x02 0x03 0x02

COMMAND	RX CAN ID	Data[0]	Data[1]	Data[2]	Data[3] See table below	Data[4]	Data[5]
SENSOR TX CAN ID SET	0x223 0x323	current TX CAN ID (LSB)	current TX CAN ID (MSB)	0x01	0x01 0x02	TX CAN 2.0 ID(LSB) TX CAN FD ID(LSB)	TX CAN 2.0 ID(MSB) TX CAN FD ID(MSB)
BIAS				0x02
TRANSMIT DATA				0x03	0x01 0x03 0x05
CAN MODE				0x04	0x01 0x02
SAMPLE RATE SET				0x05	0x01 0x02 0x03 0x04
FD PARAMETER SET				0x06	0x01 0x02 0x03 0x04
AVERAGE FILTER SET				0x07	0x01~0xff
TX CAN ID CONFIRM		0xFF	0xFE	0xFC	0x01 0x02
FACTORY RESET		0xFF	0xFE	0xFD

COMMAND	Data[3] DESCRIPTION
SENSOR TX CAN ID SET	0x01 : TX CAN 2.0 ID SET ex) ID(LSB) = 0x23, ID(MSB) = 0x01, Resulting ID 0x123 0x02 : TX CAN FD ID SET ex) ID(LSB) = 0x56, ID(MSB) = 0x04, Resulting ID 0x456
BIAS	Bias
TRANSMIT DATA	0x01 : INT Transmitting data 0x03 : INT Combined Transmitting data (FD only) 0x05 : Float Combined Transmitting data (FD only)
CAN MODE	0x01 : CAN 2.0 mode 0x02 : CAN FD mode BRS OFF (Effective from 2026.07.02) 0x03 : CAN FD mode BRS ON (Effective from 2026.07.02)
SAMPLE RATE SET	0x01 :RATE 100Hz 0x02 :RATE 250Hz 0x03 :RATE 500Hz 0x04 :RATE 1000Hz (Default)
FD PARAMETER SET	0x01 :FDSET1 0x02 :FDSET2 0x03 :FDSET3 (Default) 0x04 :FDSET4
AVERAGE FILTER SET	0x01~0xff (Effective from 2026.10.12) (0x01 : Default, no filtering)
TX CAN ID CONFIRM	0x01 :TX CAN 2.0 ID : data field not used (DLC = 0) 0x02 :TX CAN FD ID : data field not used (DLC = 0)
FACTORY RESET	FDSET3 (Default) RATE 1000Hz (Default) Zero Bias (Default) current TX CAN 2.0 ID : 0x260 , current TX CAN FD ID : 0x360 (Default) FILTER : 0x01 (Default)

3.3 Sensor Data Output

[!NOTE] To stabilize the sensor signal, it is recommended to have a running time of about 30 minutes. Please leave the sensor data on for at least 10 minutes before using it The first 10 minutes of sensor output data can cause data to flow.

Force INT Transmitting data (data[2] : 0x03, data[3] : 1 or 2)

INDEX	TX CAN ID	DLC	data[0]	data[1]	data[2]	data[3]	data[4]	data[5]
FINT	2.0 ID 0x260 FD ID 0x360	6	Fx(LSB)	Fx(MSB)	Fy(LSB)	Fy(MSB)	Fz(LSB)	Fz(MSB)

• Fx Output = 0
• Fy Output = 0
• Fz Output = Fz(MSB)*256 + Fz(LSB)
• Force[N] = Force Output/10

[!NOTE] The final calculated Force and Torque values need to be cast into 16-bit integers.

Torque INT Transmitting data (data[2] : 0x03, data[3] : 1 or 2)

INDEX	TX CAN ID	DLC	data[0]	data[1]	data[2]	data[3]	data[4]	data[5]
TINT	2.0 ID 0x261 FD ID 0x361	6	Tx(LSB)	Tx(MSB)	Ty(LSB)	Ty(MSB)	Tz(LSB)	Tz(MSB)

• Tx Output = Tx(MSB)*256 + Tx(LSB)
• Ty Output = Ty(MSB)*256 + Ty(LSB)
• Tz Output = 0
• Torque[Nm] = Torque Output/100

[!NOTE] The final calculated Force and Torque values need to be cast into 16-bit integers.

Combined INT Transmitting data (data[2] : 0x03, data[3] : 3 or 4 )

INDEX	TX CAN ID	DLC	data[0]	data[1]	data[2]	data[3]	data[4]	data[5]
CINT	FD ID 0x362	12	Fx(LSB)	Fx(MSB)	Fy(LSB)	Fy(MSB)	Fz(LSB)	Fz(MSB)

INDEX	data[6]	data[7]	data[8]	data[9]	data[10]	data[11]
CINT	Tx(LSB)	Tx(MSB)	Ty(LSB)	Ty(MSB)	Tz(LSB)	Tz(MSB)

• Fx Output = 0
• Fy Output = 0
• Fz Output = Fz(MSB)*256 + Fz(LSB)
• Tx Output = Tx(MSB)*256 + Tx(LSB)
• Ty Output = Ty(MSB)*256 + Ty(LSB)
• Tz Output = 0
• Force[N] = Force Output/10
• Torque[Nm] = Torque Output/100

[!NOTE] The final calculated Force and Torque values need to be cast into 16-bit integers

Combined Float Transmitting data (data[0] : 0x03, data[1] : 5 or 6)

INDEX	TX CAN ID	DLC	data[0~3]	data[4~7]	data[8~11]	data[12~15]	data[16~19]	data[20~23]
CFLOAT	FD ID 0x362	24	Fx	Fy	Fz	Tx	Ty	Tz

• float Fx_Output = 0 ;
• float Fy_Output = 0 ;
• uint32_t Fz_Raw = (Fz(MSB) << 24) | (Fz(3rd) << 16) | (Fz(2nd) << 8) | (Fz(LSB));
• float Fz_Output = *(float *)&Fz_Raw ;
• uint32_t Tx_Raw = (Tx(MSB) << 24) | (Tx(3rd) << 16) | (Tx(2nd) << 8) | (Tx(LSB));
• float Tx_Output = *(float *)&Tx_Raw ;
• uint32_t Ty_Raw = (Ty(MSB) << 24) | (Ty(3rd) << 16) | (Ty(2nd) << 8) | (Ty(LSB));
• float Ty_Output = *(float *)&Ty_Raw ;
• float Tz_Output = 0 ;
• Force[N] = Force Output
• Torque[Nm] = Torque Output

[!NOTE] The final calculated Force and Torque values need to be cast into float.

[!NOTE] The calculation of the data must follow the little-endian format.

4. Additional information

4.1 USB-to-CAN interfaces

PCAN-USB FD Device (USB to CAN FD)

• You may use a different CAN-enabled board, but use peak-system converter to use the sample program

• Device Item number IPEH-004022
  • https://www.peak-system.com/PCAN-USB-FD.365.0.html?&L=1
• PCAN-View (Windows Software for Displaying)
  • https://www.peak-system.com/PCAN-View.242.0.html?&L=1

F & Q

Q. What is the waterproof grade?

A. The sensor is not waterproof or dustproof.

Q. What does NC mean?

A. NC stands for Not Connected.

Q. What happens if the sensor is used outside the operating temperature range?

A. Temperature changes within the allowable range are compensated by the calibration values. However, using the sensor outside the recommended temperature range distorts the measurements and results in abnormal output values.

Q. Is it possible to develop additional software?

A. Additional software development is available through separate consultation and agreement.

Q. Can I extend the cable?

A. We are not responsible for any problems caused by the use of cables not manufactured by AIDIN ROBOTICS. It is recommended that the cable length be less than 1 m, up to a maximum of 3 m.

Q. Is it okay to disassemble the sensor myself?

A. Disassembling the sensor voids the A/S policy and may cause the sensor calibration values to shift.

Revision History

Date	Description
2026.10.14	Unused axes (Fx, Fy, Tz) shown as = 0; RX ID MASK display fixed (Current version)
2026.10.13	Minor wording revisions
2026.10.12	AVERAGE FILTER SET
2026.07.24
2026.07.02	CAN MODE options updated (CAN FD BRS OFF / BRS ON)
2026.04.28