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ATI Technologies FT Software Installation And Setup Manual

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ATI F/T Sensor URCaps Software Installation and
Setup Manual for UR CB-Series Robots
Document #: 9610-05-1036
Engineered Products for Robotic Productivity
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: +1-919.772.0115 • Fax: +1-919.772.8259 • www.ati-ia.com

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Summary of Contents for ATI Technologies FT

  • Page 1 ATI F/T Sensor URCaps Software Installation and Setup Manual for UR CB-Series Robots Document #: 9610-05-1036 Engineered Products for Robotic Productivity Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: +1-919.772.0115 • Fax: +1-919.772.8259 • www.ati-ia.com...

  • Page 2: Foreword

    Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 Foreword Information contained in this document is the property of ATI Industrial Automation, Inc. and shall not be reproduced in whole or in part without prior written approval of ATI Industrial Automation, Inc. The information herein is subject to change without notice and should not be construed as a commitment on ATI Industrial Automation, Inc.

  • Page 3: Table Of Contents

    Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 Table of Contents Foreword ............................2 Glossary ............................4 Safety ............................6 1.1 Explanation of Notifications ......................6 General Safety Guidelines ......................6 Safety Precautions ........................6 Overview ........................... 7 ATI F/T Kits for Ethernet Axia .......................

  • Page 4: Glossary

    Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 Glossary Definition Term A user set state during which the ATI URCap software ignores certain Acceptable Status Condition status bits from the ATI F/T sensor so that the UR robot can continue operation. A process or set of rules the robot uses to provide force feedback to control Algorithm the robot motion. ATI Ethernet Axia Sensor or An ATI F/T sensor that uses Ethernet protocol. ATI NET F/T Sensor An error that occurs if the ATI URCap’s Python script is unable to run ™ correctly. The Python script/Daemon runs in the background on the UR “ATI FT Daemon failed”...
  • Page 5 Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 Definition Term Tool Center Point Teach Pendant A handheld device or control box for programming the motions of a robot. The measurement of force exerted on an object causing it to rotate. Torque Mathematically, torque is expressed as: Torque = Force x Moment Arm Distance A collaborative robot manufactured and distributed by the company, UR CB-series robot Universal Robots (UR). CB denotes a robot from the CB-series product line.

  • Page 6: Safety

    Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 1. Safety The safety section describes general safety guidelines to be followed with this product, explanations of the notifications found in this manual, and safety precautions that apply to the product. Product specific notifications are imbedded within the sections of this manual (where they apply).

  • Page 7: Overview

    Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 2. Overview This manual provides an overview of the ATI F/T Axia kits compatible with a UR CB-series robot and procedures to set-up the ATI URCaps software. For programming the ATI URCaps software and demo programs, refer to the manual.

  • Page 8: Ati F/T Kits For Ethernet Axia

    Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 2.1 ATI F/T Kits for Ethernet Axia ATI provides the following kit options: Table 2.2—ATI F/T Axia Kits ATI Kit P/N 9105-UR- 9105-UR- Item AXIA80 AXIA80-S (Figure 2.2)

  • Page 9: Unpacking The Ati F/T Kit

    Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 Figure 2.2—UR Kit, P/N 9105-UR-AXIA80 and 9105-UR-AXIA80-S Robot Arm (6) M5 Socket Head Cap Screw 4 mm low profile hex key for the M5 screws (Part of ATI Kit P/N 9105-IP-2126)

  • Page 10: Installation

    Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 3. Installation WARNING: Performing maintenance or repair on the sensor when circuits (for example: power, water, and air) are energized could result in death or serious injury. Discharge and verify all energized circuits are de-energized in accordance with the customer’s safety practices and policies. 3.1 Installing an ATI F/T Ethernet Sensor to the UR CB-series Robot Refer to the applicable manual in Table 2.1.

  • Page 11: Loading The Ati F/T Urcaps Software On The Teach Pendant

    Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 4.2 Loading the ATI F/T URCaps Software on the Teach Pendant To load the ATI F/T URCaps software from the USB drive to the teach pendant, refer to the following steps: 1.
  • Page 12 Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 4. On the Setup Robot screen, select the URCaps button. Figure 4.3—Setup Robot Screen 5. The URCaps screen opens. Load the ATI F/T URCaps software from the USB drive.
  • Page 13 Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 d. Navigate to the directory where the ATI F/T URCaps software file is saved on the USB drive. Figure 4.5—Open the File Select the file. Click Open. The file loads onto the teach pendant.

  • Page 14: Remove The Ati F/T Urcaps Software From The Teach Pendant

    Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 4.2.1 Remove the ATI F/T URCaps Software from the Teach Pendant To remove the ATI F/T URCaps software from the teach pendant, complete the following procedure: 1.
  • Page 15 Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 4. On the Tool Center Point screen, type values in the fields, as applicable to the application. For assistance in determining these values, refer to Section 4.4—Determining the Tooling Mass and Offset.
  • Page 16 Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 5. On the left side, select F/T Sensor. 6. In the F/T Sensor Address field, type the IP address of the sensor: for example, 192.168.1.1 NOTICE: ATI ships the sensor with a default IP address: 192.168.1.1. However, the user must set the sensor to an IP address on the same local subnet as the UR CB-series robot. For...
  • Page 17 Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 Select the Save or Save As... button to save changes. Figure 4.12—Save 11. Once the sensor and robot are setup, the user can now create a program or run an ATI demo program...

  • Page 18: Determining The Tooling Mass And Offset

    Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 4.4 Determining the Tooling Mass and Offset CAUTION: Do not enter the following default values into the robot controller without accounting for the tooling mass by using the following equations. Failure to account for the tooling mass and offset reduces the performance of the UR robot. Properly account for the customer tooling, when setting up the tool center point or TCP. Determining the tooling mass and offset depends upon the system configuration: sensor type, interface plate characteristics, and the customer tooling. The following sections explain how to calculate the mass and offset for two scenarios: a sensor with only a mounting interface plate or a sensor with mounting and tool interface plates.
  • Page 19 Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 Table 4.2—Sensor Measuring Offset (with mounting interface plate) Sensor and Mounting Interface Plate Models ATI Axia F/T Axis Sensor and ATI F/T Ethernet Sensor and Custom Mounting ATI mounting Interface Plate interface plate...
  • Page 20 Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 Figure 4.15—Equations Where: Center of Gravity (CG): The point of a mass around which the resultant torque from gravity forces is zero. Customer’s Center of Gravity in the X, Y, Z Direction: The distance in mm from the F/T sensor’s sensing reference frame origin (refer to...

  • Page 21: Tooling Mass And Offset For Sensor With Mounting And Tool Interface Plates

    Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 4.4.2 Tooling Mass and Offset for Sensor with Mounting and Tool Interface Plates The ATI provided F/T sensor with mounting and tool interface plates have the following mass characteristics, measuring offset, and CG with no customer tooling installed (for more information,...
  • Page 22 Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 Table 4.5—Measuring Offset with Mounting Interface Plate Sensor and Mounting Interface Plate Models ATI Axia F/T Axis Sensor with ATI F/T Ethernet Sensor with Custom Mounting Mounting Interface Plate Interface Plate...
  • Page 23 Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 Figure 4.18—Equations Where: Center of Gravity (CG): The point of a mass around which the resultant torque from gravity forces is zero. Customer’s Center of Gravity in the X, Y, Z Direction: The distance in mm from the F/T sensor’s sensing reference frame origin (refer to...

  • Page 24: Troubleshooting

    Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 5. Troubleshooting This section includes answers to some issues that might arise when setting up and using the ATI UPCaps software with an ATI sensor. In , the question or problem is listed on the left followed by the plausible solution to the right.

  • Page 25: Terms And Conditions Of Sale

    Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series Document #9610-05-1036-07 6. Terms and Conditions of Sale The following Terms and Conditions are a supplement to and include a portion of ATI’s Standard Terms and Conditions, which are on file at ATI and available upon request.

This manual is also suitable for:

9105-net-axia80-m209105-ur-axia80-s

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