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Home > Robotiq Products > How to install the Force Torque Sensor (FT-150) on a Universal Robot

Etienne_Samson 2016-04-21

This how-to is intended for Robotiq FT-150 1.X Sensor install on any UR using controller CB2 / CB3

What you need :

Robotiq UR kit for FT-150 (includes all cables and hardware)
UR 3, 5 or 10 robot with controller CB2 or CB3
Metric Allen key set (3, 5 mm)
2 mm slotted screwdriver

How to do it :

Mechanical installation :

Insert the provided 6 mm dowel pin into the UR wrist
Mount the FT-150 adapter plate on the UR wrist, fix with the provided M6 x 10 mm screws
Mount the FT-150 on the adapter plate, fix with the provided M4 x 35 mm screws

Electrical installation :

Connect the FT-150 connector to the device cable
Pass your cable along the robot arm, make sure you have enough cable forgiveness to allow the UR to move freely in all directions. Attach with tie-wrap (or any cable holding system, may look better then tie-wraps...)
Wire the RS-485 to USB converter and wire the power to the UR controller according to this schematic :

Software setup :

Get the driver package for Robotiq Sensor at support.robotiq.com (look into each of the product section)
Unzip the package on a USB stick, plug into the UR, install is automatic

See my other post on how to use the sensor with the provided template on UR.

Here is video showing the installation with a CB2 :

https://www.youtube.com/watch?v=mx_4Oq7PXg4

Watch an example application :

https://www.youtube.com/watch?v=LUDnN5LGBjg