0. Robot Variable Mapping - ati-ia/yaskawa-ft-ethernet GitHub Wiki

The MotoPlus program will use the following 5 hardcoded global Bvar indices. Yaskawa Innovations has assigned 80 - 84 as reserved for ATI as a Smart Pendant Partner. These indices are for the user to define which other variable indices should be used. The user must leave these hard-coded indices available for the MotoPlus application to reference.

The MotoPlus Application does not automatically label these variables! The ATI Ethernet F/T YIP will automatically label the variables. If the MotoPlus Application is being installed standalone without using the YIP, the user should manually label these variables according to the definitions here:

BVar Index	value	Description
80	n	Rvar, Ivar, Dvar, Bvar, Svar start index
81	m	I/O start index (user enters 1-8). M+ Application adds this to 10,009, since External I/O index 1 is referenced internally by the robot as 10,0xxx.
82	p	Position variable start index (unused)
83	j	Register start index (unused)
84	k	Task 1 Control: Initialize these variable indices & Launch the Task1, ReadFT, and Task2, Secondary Task and Alarm Control

Once the sensor communication is initialized (by turning on BVar[84], described above), the following robot global variables and I/O will also be used written to. The MotoPlus Application does not automatically label these variables! The ATI Ethernet F/T Smart Pendant Extension will automatically label the variables. If the MotoPlus Application is being used without the Smart Pendant Extension, the user should manually label these variables according to the definitions here:

BVar Index	Description
n + 0	Sensor Type (robot user must set this variable. 1 = Ethernet Axia, 2 = NET Box)
n + 1	Bias Command (robot user must toggle this variable. 0 = no command, 1 = send bias command)
n + 2	Tool transform displacement units, as defined in NET F/T & NET Axia UDP protocol. Default to 3 (mm). 1 = Inch, 2 = Foot, 3 = Millimeter, 4 = Centimeter, 5 = Meter
n + 3	Apply new tool transform (robot user must toggle this variable. 0 = no command, 1 = send TT command)
n + 4	Force Search Task Control (robot user must toggle this variable. 0 = no command, 1 = start M+ Task to monitor for the Force Search threshold, and set the DIO when the limit is exceeded)
n + 5	Force Search Direction (1 = X, 2 = Y, 3 = Z )
n + 6	Force Search Type (1 = Search for increase in force, 2 = Search for decrease in force)

IVar Index	Description
n + 0	tool transform, displacement in x
n + 1	tool transform, displacement in y
n + 2	tool transform, displacement in z
n + 3	tool transform, rotation about x
n + 4	tool transform, rotation about y
n + 5	tool transform, rotation about z

DVar Index	Description
n + 0	32-bit Sensor Status Code
n + 1	Force Search Distance, in micrometers (Must enter negative value to search in negative axis direction.) (This variable is used by Robot Job/Task, but not by this MotoPlus Application)
n + 2	Force Search TCP Speed in mm/s (This variable is used by Robot Job/Task, but not by this MotoPlus Application)

SVar Index	Description
n + 0	Force Units (reported by sensor)
n + 1	Torque Units (reported by sensor)
n + 2	Sensor Error Message (interpreted Status Code, reports Healthy if no error)
n + 3	Sensor IP-address (User must know this IP address and enter it in this robot String Var, so that the MotoPlus application can use it to connect to the sensor.)

RVar Index	Description
n + 0	Fx data
n + 1	Fy data
n + 2	Fz data
n + 3	Tx data
n + 4	Ty data
n + 5	Tz data
n + 6	Force Search (FS) Target Force

While Force Search Task Control is enabled (Bvar[n + 4] = 1) the MotoPlus Application will write to the Digital Output (DO) listed here if the Target Force search condition is met. In order to use this to stop robot motion (such as for a Force Search Application), the DO must be electrically connected to a DI. This is because the robot can only stop its motion based on a DI. For more information on Force Search and the hardware requirements, refer to the Jobs section of this wiki.

I/O Index	Description
m + 0	DI and DO that is set to HIGH while force target is met or exceeded. This DI and DO must be electrically tied/jumpered together such that the DI is controlled by the DO. See Robot Wiring