HEX-E 6-axis force-torque sensor
High Precision force-torque sensor - giving the sense of touch to your robot
6-axis force-torque sensor provide accurate force and torque measurements along all 6 axes. This gives you precise control when it comes to difficult assembly, polishing, sanding or deburring jobs. Additionally, the HEX software includes path recording, force control and special features for insertion tasks. This means reduced integration time for your production line. Designed to fit most of the current industrial robot arms. Common applications are polishing, sanding, deburring, grinding and assembly, but it can also be used for teach-in and crash detection.
- Flexible sensor extends automation possibilities to processes that weren’t previously possible
- High-accuracy sensor technology provides 95% better quality in insertion and assembly tasks.
- Easy programming gets even complex polishing tasks up and running in less than a day
Easy hand guiding, path recording
You can record complex paths within minutes
Precise force/torque measurement on 6 axis (Fx,Fy,Fz,Tx,Ty,Tz)
Advanced force control
Keeps constant speed and force while moving
Easy to install graphical user interface, fast programming
You can start your application development within an hour
Unique optical based technology
Compared to other technologies the unique OnRobot sensor technology generally much more robust, can resist sudden shocks.
The gripper comes with pre-integrated software that is easy to install and program, so even employees with no technical background can set it up.
OnRobot HEX Clutch Insertion Application at Automatica 2018
Quality testing & Inspection
Packaging & Palletizing
Pick & Place
Essential accessories to make onRobot gripper work with other then UR robots.
Easy deployment with out-of-the box grippers reduces programming time by 70%.
Plug & Produce
Plug & Produce design reduces deployment time from a day to an hour.
Signal noise (typical)
Fxy - 0.035 N | Fz - 0.15 N | Txy - 0.002 Nm | Tz - 0.001 Nm
Fxy - < 5 % | Fz - < 5 % | Txy - < 5 % | Tz - < 5 %
Hysteresis (measured on Fz axis, typical)
Fxy - < 2 % | Fz - < 2 % | Txy - < 2 % | Tz - < 2 %
Full scale nonlinearity
Fxy - < 2 % | Fz < 2 % | Txy - < 2 % | Tz - < 2 %
Noise-free resolution (typical)
Fxy - 0.2 N | Fz - 0.8 N | Txy - 0.01 Nm | Tz - 0.002 Nm
Single axis overload
Fxy - 500 % | Fz - 500 % | Txy - 500 % | Tz - 500 %
Single axis deformation at N.C (typical)
Fxy - ± 1.7 mm | Fz - ± 0.3 mm | Txy - ± 2.5 °| Tz - ± 5 °
Nominal Capacity (N.C)
Fxy - 200 N | Fz - 200 N | Txy - 10 Nm | Tz - 6.5 Nm
Dimensions (H x W x L)
50 x 71 x 93 mm
Weight (with built-in adapter plates)
Calculated MTBF (operating life)
minimun 30.000 Hours
Relative humidity (non-condensing)
maximum 95 %
maximum 55 °C
maximum 0.8 W
minimun 7 maximum 24 V
Haptic force/torque sensors offer companies the opportunity to increase their production efficiency in many areas of application to a significant degree.
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