Force and torque sensor Sano74

Overview
A force-torque sensor designed for integration in surgical robotic systems, offering high-resolution, low-latency measurements and medical-grade chemical resistance for repeated disinfection.

Key features

• Optimized for Robotic Surgery – Engineered to meet and exceed IEC 60601 ESD requirements with a conformal coating for chemical resistance against disinfection overspray between procedures.
• Simplified System Architecture – Dual-port EtherCAT supports daisy-chaining; includes a serial port for online diagnostics and a 20 mm thru-hole for routing instruments or cabling.
• High-Precision, Real-Time Data – Provides 5× higher resolution and real-time streaming at 8 kHz to support extended surgical instruments and precise force feedback.
• Streamlined Connectivity – Flexible options including FFC and wired OEM connectors, EtherCAT IN/OUT, power interface, and RS485 serial communication.
• Dynamic Environmental Stability – Multiple thermistors and software-enabled thermal compensation maintain measurement stability across static and transient temperature changes.

Specifications
Measurement Range: 130 N / 12 Nm
Sensing Range: X/Y Force: ±130 N; X/Y Torque: ±12 Nm; Z Force: ±400 N; Z Torque: ±12 Nm
Resolution: X/Y Force: 0.015 N; X/Y Torque: 0.000715 Nm; Z Force: 0.0325 N; Z Torque: 0.000525 Nm
Overload: Force X/Y Single Axis: ±1200 N; Force Z Single Axis: ±4100 N; Torque X/Y Single Axis: ±67 Nm; Torque Z Single Axis: ±69 Nm
Stiffness: Force X/Y Calculated Stiffness: 7.1×10^6 N/m; Torque X/Y Calculated Stiffness: 6.4×10^6 N/m; Force Z Calculated Stiffness: 1.3×10^7 N/m; Torque Z Calculated Stiffness: 7.1×10^3 N/m
Other: Height: 28.8 mm; Weight: 0.175 kg; Diameter: 74 mm; Interface Plate Rating: IP20; Communication Interface: EtherCAT & RS485; Accuracy (% Full Scale): 1%; Latency: <1 ms; Data Rate: 8 kHz / 3 MBd; Sample Rate: 8 kHz; Connector: Direct-to-Board

Technical specifications

• Commercial name: Sano74
• Model / Part Number / SKU: 9105-ECAT3-SANO74-M12
• Measurement Range: 130 N / 12 Nm
• X/Y Force Sensing Range: ±130 N
• Z Force Sensing Range: ±400 N
• X/Y Torque Sensing Range: ±12 Nm
• Z Torque Sensing Range: ±12 Nm
• X/Y Force Resolution: 0.015 N
• Z Force Resolution: 0.0325 N
• X/Y Torque Resolution: 0.000715 Nm
• Z Torque Resolution: 0.000525 Nm
• Force X/Y Single Axis Overload: ±1200 N; Force Z Single Axis Overload: ±4100 N
• Torque X/Y Single Axis Overload: ±67 Nm; Torque Z Single Axis Overload: ±69 Nm
• Height: 28.8 mm
• Diameter: 74 mm
• Weight: 0.175 kg
• Interface Plate Rating: IP20
• Communication: EtherCAT & RS485
• Data Rate / Sample Rate: 8 kHz / 3 MBd
• Accuracy: 1% full scale