1. Extension Quick Start - ati-ia/yaskawa-ft-ethernet GitHub Wiki

The Extension consists of two parts, a Utility and a Panel.

• Located under the Utility dropdown in the menu
  • "ATI Ethernet F/T Sensor"
• Contains two navigation tabs
  • F/T Data
    • View F/T data
    • Bias (zero/tare) the sensor with a button click
    • Displays the global variable addresses that the F/T data is stored in
  • Settings
    • Required for:
      • Communicating with the sensor
      • Viewing F/T data
      • Running jobs
    • Click the Help/Info icon next to each setting field for more information.
    • All fields must be filled for the settings to be saved. The fields are:
      • Variable Start Index
      • I/O Index
      • Position Start Index
        • The Position variable is not currently used by the application, but an index must be entered and is reserved for future use.
      • Sensor IP Address
      • Sensor Type
    • When saving, a prompt will verify the addresses that the variables will be written to
      • Verify that these are free and available to use for this extension.
      • Tip: Open the Smart Pendant's Variables menu behind the Extension Utility. The Utility pane can be dragged around the screen.
    • Once saved, a notification confirmed that the settings have been saved
    • After the Settings are saved, return to the F/T data tab. The data should be being read from the sensor and displayed.
      • The display rate of force values (non-critical) is slower than the optimized speed of communication between the F/T sensor and Yaskawa controller. The values are updated on the controller faster than they appear on the pendant.
      • From here, you may also bias (zero/tare) the sensor with the Bias button.

• The Ethernet F/T Programming Panel provides robot jobs to Call from the user's current program (main job).

• For F/T Jobs to work properly, sensor settings must first be set through the Utility.

• Accessed by a button in the lower right of a Programming/Current Job screen.

  • [Click here to expand] F/T Jobs

    

• Contains three tabs:

  • Bias
  • Tool Transform
  • Force Search

1. Choose the Job by the navigation tabs at the top of the panel
2. Fill in all the arguments on job page, if applicable (Bias does not have any arguments)
3. Click the insert button
   • Job Call will be inserted under the currently selected line in the current Job
   • The robot controller treats a Job Call as a subprogram. When the call is reached in the main (current) Job, the called Job (subprogram) will be run. After the called Job reaches its END, the controller returns to the main Job and continues.
4. To edit an inserted Job Call, it must be edited manually by clicking on the line the Job Call is on. Changing the parameters in the job panel and re-inserting will add a new Job Call and will not delete the previous one.