1. FT Sensor System Overview - ati-ia/yaskawa-ft-ethernet GitHub Wiki
ATI offers many types of six-axis Force/Torque sensor systems. The following are compatible with the ATI Ethernet F/T Yaskawa software in this repository:
| Sensor Body Type | System Interface Type | Electrical Accessories | Mechanical Accessories |
|---|---|---|---|
| Axia | Ethernet Axia (Net Axia) |
From ATI: Ethernet Axia Cables User-Supplied: 24V power supply to connect Axia power leads to (can use robot I/O block) |
Required: Interface plate(s) and fasteners for mounting to robot Optional: Tool-side interface plate for replicating robot flange pattern on tool-side of sensor |
| Nano, Mini, Gamma, Delta, or Omega | Ethernet F/T (NET F/T) |
From ATI: Net Box, Cable from sensor to Net Box, Power Supply, (optional) M12 to RJ45 adapter for Ethernet User-Supplied: Ethernet cable from Net Box to robot (supplied by user) |
Required: Interface plate(s) and fasteners for mounting to robot Optional: Tool-side interface plate for replicating robot flange pattern on tool-side of sensor |
Sensor hardware kits are available for common sensor and robot model combinations. Other sensor models may also be used, but accessories like compatible cables and interface plates (if available) will need to be purchased individually.
| Kit Part Number | ATI Sensor Model | Yaskawa Robot Model |
|---|---|---|
| 9105-COB-GP12-AXIA80-01 | Net Axia80-M20 | GP12 |
| 9105-COB-GP8-AXIA80-01 | Net Axia80-M20 | GP8 |
| 9105-COB-HC10-AXIA80-01 | Net Axia80-M20 | HC10 |
-
Sensor with communication electronics compatible with Yaskawa robots, such as:
- Axia sensor model with Ethernet Axia (Net Axia) interface type
- Non-Axia sensor model (Mini, Gamma, Delta, Omega, etc) with Ethernet F/T or (NET F/T) interface type and Net Box
- Mounting Interface plate(s) and fasteners for mounting to the robot
-
Tooling-side Interface plate(s) and fasteners for adapting the sensor's tooling side to mimic the robot's flange pattern
- This allows the user to mount tooling designed for the robot wrist directly to the sensor
- Cables and any other ATI-supplied system electronics
For drawings and more information about exact contents of each kit part number, see www.ati-ia.com/yaskawaFTSW, or contact ATI.
ATI Website: www.ati-ia.com
Each sensor model page has tabs for Ranges and Resolutions, Specifications, Drawings, and 3D CAD Models
- Net Axia Manual
- Net F/T (Net Box) Manual
-
Transducer Section Manual
- For non-Axia sensor body models, such as those using a Net Box
General questions about F/T sensor operation and troubleshooting are addressed in ATI's F/T FAQ.
Optional PC software is also available from ATI:
- F/T Data Viewer: PC software program for viewing F/T data when not used on the robot.
- NET F/T Demo: Simple, Java-based software program for viewing F/T data, when not used on the robot. Compatible with Linux.
- All ATI F/T Software (includes source code and code examples)