Refer to:

• F/T Sensor System Overview
• Yaskawa Robot Setup

Smart Pendant users should install the ATI Ethernet F/T Smart Pendant Extension .yip instead of installing the MotoPlus Application directly. The .yip will include the MotoPlus application, but the user is not required to interact with the MotoPlus Application directly. The Extension makes it easy to use the functions of the MotoPlus Application.

NOTE: Do not install this MotoPlus Application .out as a standalone application if installing the Extension .yip!

MotoPlus SDK is a software development kit from Yaskawa. It allows specialized control and monitoring applications for the robot system to be written in C, then compiled for a specific robot controller and installed on the robot via a .out file. These applications then run on the robot controller concurrently with the standard robot software. These tasks run in real time to control and/or monitor the robot with maximum performance. They cannot be opened on the robot pendant; control of and communication with a Yaskawa MotoPlus application is via robot variables and I/O.

ATI's NETFTS MotoPlus Application is a resource for users to integrate data from ATI's Force/Torque sensors into the robot controller. It handles the following:

• Initialize socket messaging communication to an ATI Ethernet-based Force/Torque sensor
• Reads required calibration information from the sensor
• Writes the latest Force/Torque data to robot variables, in units of Force and Torque
• Monitors for possible errors from the sensor, and writes both the Status Code and a readable error message to robot variables
• Ability to bias (zero/tare) the sensor
• Ability to write tool transformations (coordinate transforms) to the sensor
• When requested, monitors for a target force and sets a Digital Output when the target force is reached. This can be used to control robot motion for applications such as "Force Search".

Note: Although this Application writes Force and Torque data to the robot variables in real time, this data cannot be integrated into other Yaskawa software options such as MotoFit.

Refer to:

• Robot Variable Mapping:
  This MotoPlus Application runs multiple Tasks and uses several robot variables to communicate with the user (or the Smart Pendant Extension).
• MotoPlus Quick Start
  A step-by-step for the basic functionality. Additional functionality can be achieved if used together with robot jobs and/or the ATI Ethernet F/T Smart Pendant Extension.