A Yaskawa Smart Pendant is required to use the ATI Ethernet F/T Smart Pendant Extension. Users without a Smart Pendant can install the ATI NETFTS MotoPlus Application by itself without the Smart Pendant Extension. For details on compatible devices, refer to:

• F/T Sensor System Overview
• Yaskawa Robot Setup

• Utilities are found in the menu under "Utilities". Clicking this section of the menu will expand a list of utilities that are available on the Smart Pendant. To open a utility, click on the name of the desired utility.
• A utility will appear as a popup over the current screen
• The utility may be moved around the screen as needed. Drag the utility by the title bar at the top to move the utility to the desired location. It cannot be moved outside of the boundaries of the Smart Pendant screen.
• Note that the utility may obscure other functions of the Smart Pendant. To fix this, the utility can be moved to a different location or closed. If closed, the utility will still have all of the previously entered information when re-opened.

• The programming panel may only be viewed on programming page with a job open for editing.
• Panels are displayed as buttons on the bottom of the screen
• Panels may be minimized using the downwards arrow on the right of the screen above the panel.
• It is possible for the panel to be in a minimized view when switching from one programming panel to another. If the panel does not show up whet the button is clicked, try clicking the upwards arrow ( ^ ) on the right side to pull the panel back up.
  • Opening a Minimized Panel

    

• Yaskawa Install Package
• Uses the file extension .yip
• Bundles components for easy installation on the Smart Pendant
  • Components include, but are not limited to:
    • MotoPlus Applications
    • Smart Pendant Extensions
    • INFORM jobs
    • Variable defaults and labels
• ATI's Ethernet F/T YIP contains:
  • ATI Ethernet F/T Smart Pendant Extension
  • ATI NETFTS (Ethernet F/T Sensor) MotoPlus Application
  • ATI NETFTS Robot Jobs
  • Variable Configuration for robot BVars 80 - 84.

• The Yaskawa Controllers provide storage for five different types of variables.

• The global variable address spaces correspond to the type of variable that may be stored there.

• The available address spaces are Byte, Integer, Double, Real, and String. Robot positions can also be saved in the Position variables.

  Accessing Variables

  1. Open the menu, click "I/O and Variables", and then click "Variables"

  

  2. The variable page will pull up, showing you the variable addresses on the controller. Different address spaces may be viewed by choosing the variable type in the navigation bar at the top.

  

• The settings page allows for setting up the sensor to work with the extension
• F/T data is streamed from the sensor to the F/T Data View page of the utility
  • Note that the speed at which the data on the screen refreshes is slower than the speed at which the sensor is actually streaming
• View the indices the F/T data values are located in
• Bias the sensor with just the click of a button

• Programmatically insert jobs using pages with fields for easily creating jobs
  • Available F/T jobs
    • Force Search
    • Tool Transformation
    • Bias