Product Matrix
6-AXIS JOINT FORCE SENSOR

End-effector and ankle force/torque feedback

6dFT Motus™ Robot Joint 6-Axis Force Sensor

A core force-feedback component for embodied-intelligence, collaborative and industrial robots, built for fine control at the robot end-effector. It synchronously measures multi-axis forces and moments in the spatial Cartesian frame. Multiple selectable measurement ranges adapt to different task scenarios. Built-in intelligent algorithms keep inter-axis coupling, thermal drift and time drift low, so tuning and maintenance work stays minimal.

Live DashboardView in Shop
6dFT Motus™ Robot Joint 6-Axis Force Sensor
Force / torque axes
6 DOF
Sensor diameter
Ø45–175 mm
Model range
100–10000 N
Official models
18
Simulation data

Dynamic Force / Torque Data Demonstration

Explore how six simulated channels can be organized for force and torque analysis. The values below are illustrative software-generated data, not readings from connected hardware.

Demonstration model
Data pattern
Current simulated values
Fx
0.00 N
Fy
0.00 N
Fz
0.00 N
Mx
0.00 Nm
My
0.00 Nm
Mz
0.00 Nm
Load-centre viewM6F-D045-250 · Derived from Mx / My / FzThe load centre is placed by the textbook relation COPx = −My / Fz, COPy = Mx / Fz, so the simulated trail shows how the contact point drifts as the load changes.
Resultant-force vectorM6F-D045-250 · Fx / Fy / Fz directionA vector combines the three simulated force components into one direction and magnitude.
Six-component decompositionM6F-D045-250 · Fx · Fy · Fz · Mx · My · MzSix bars compare the relative force and moment components at the current instant.
Six-component polar viewM6F-D045-250 · Fx · Fy · Fz · Mx · My · MzA polar trace with motion trails compares the balance of all six simulated components; it does not represent a hardware reading.
Frequency spectrumM6F-D045-250 · Illustrative Fz spectrumA simulated frequency view helps explain how periodic load changes may be inspected.
Six-channel time waveformM6F-D045-250 · Continuous simulated channel historyThe main waveform tracks Fx, Fy, Fz, Mx, My and Mz together over time.

This dashboard uses slowly changing simulated values. No physical sensor is connected.

Core Capabilities

The capability points below are taken from the official product material for this family.

  • Synchronous measurement of multi-axis forces and moments in the spatial Cartesian frame

  • Multiple selectable measurement ranges adapt to different task scenarios

  • Built-in intelligent algorithms for low inter-axis coupling and low thermal / time drift

  • Little tuning and maintenance work required

Quick Start

A practical integration sequence; final mechanical and electrical details follow the official technical file.

  1. Select the model

    Match the expected load to one of the official variants in this family.

  2. Mount at the measurement point

    Confirm the mechanical interface and protect the sensing body from unintended loads.

  3. Connect data acquisition

    Connect the specified power and communication interface according to the official technical file.

  4. Zero, verify and acquire

    Zero the unloaded sensor, verify channel directions, then use the measured data in the control workflow.

Technical Specifications

ParameterSpecification
Sensor materialStainless-steel body + aluminium-alloy housing
Sensor typeResistive strain-gauge
Fz range (N)500~4000
Fxy range (N)250~2000
Mz range (Nm)20~120
Mxy range (Nm)8~60
Overload rating (%)150~1200
Non-linearity (%F.S)<0.1~<0.5
Repeatability (%F.S)<0.1~<0.5
Thermal drift (%F.S)<0.2~<1.6
Zero drift (%F.S)<0.1~<0.8
Signal-acquisition boardBuilt into the sensor body
Communication interfaceTypeC+4P serial port (customizable)
Power supplyDC5V 500mA
Digital resolution24-bit ADC
Sampling frequency100~2000Hz
FilteringIIR 1000Hz low-pass + 50Hz mains-frequency notch
Built-in algorithmsDecoupling, zeroing, compensation, data fusion, self-diagnosis

Application Scenarios

Current product content and selection relationships support the following customer tasks.

For wrist, ankle and robot-arm end-effector control tasks.

  • APPLICATION 01

    Embodied-intelligence robots

    End-effector and ankle force/torque feedback
  • APPLICATION 02

    Collaborative robots

    End-effector and ankle force/torque feedback
  • APPLICATION 03

    Industrial robots

    End-effector and ankle force/torque feedback
  • APPLICATION 04

    End-effector fine control

    End-effector and ankle force/torque feedback

Applicable Robots and Mounting Locations

Robot types and locations below are generated from the current selection relationships rather than page-specific marketing copy.

Current selection: Humanoid Robots · End-effector and ankle force/torque feedback

  • Humanoid Robots
  • Collaborative Robots
  • Industrial Robots
  • Wrist
  • Arm end effector
  • Ankle

Select a model

Selected: M6F-D135-2.5K

Downloads

Data note

Some parameter information continues to be verified. Refer to the official technical documentation.

Ready to Sense Force?

Give every wrist, ankle and end-effector an exact sense of the force it meets.

Request a Sample