Jobs provided with the ATI NETFTS software can be identified by the NETFTS tag.

[Click to expand] How to View Jobs

• Select "Job List"

• A list of jobs on the Smart Pendant will display. Select the desired job and then click the "Edit" button to open it.

These jobs provide core functionality for communicating with and using the sensor.

• NETFTS_BIAS.JBI
• Using the bias job tares/zeroes out the sensor to define a no-load zero point

• NETFTS_TT.JBI

• By default, the F/T data coordinate system origin is the center of the sensor's tooling-side face. A Tool Transform changes the coordinate system to reflect the location of a tool's displacement and rotation from the sensor, allowing for the F/T values to reflect accurately from the tool coordinates rather than the sensor coordinates.

• For information on tool transforms and how to determine displacement and rotation, see NET F/T (Net Box) or Ethernet Axia manual.

Argument Number	Argument	Accepted Values*
1	Displacement in X	any integer
2	Displacement in Y	any integer
3	Displacement in Z	any integer
4	Rotation about X, in degrees	any integer
5	Rotation about Y, in degrees	any integer
6	Rotation about Z, in degrees	any integer
7	Displacement Units	1 = Inches, 2 = Feet, 3 = Millimeters, 4 = Centimeters, 5 = Meters

• NETFTS_FORCESEARCH.JBI
• During a Force Search, the robot moves in the selected direction until it detects a specified target force condition.
• Use Force Search to complete actions such as:
  • move in one direction until a part or edge is reached
  • push or pull a part in one direction until a required force is reached
  • search for a surface, for example:
  • gently place an object down
  • place a sanding or buffing pad at the starting position. Then press with a specified force.
  • pick or place a part from a stack where the exact position of each part is unknown.

• The DI and DO specified by DI/DO index must be electrically connected with a jumper wire, such that if the DO is turned on/high, the DI is also on. Refer to Wiring Installation: Robot Wiring.

• The search motion will be in the Yaskawa robot Tool Frame (TF) specified by the Tool Frame parameter.
• To view or configure robot TFs, see the robot's Tool menu.
• The robot TF axes must align with the F/T sensor's axes.
  • The sensor's +X and +Y labels should align with the robot's +X and +Y jog direction when jogging in the specified TF.
  • If the robot is jogging in +X and touches something in its path, the force reading should be a negative force in Fx.
• If the robot TF cannot be retaught to align with the sensor, a Tool Transformation can instead be applied to the sensor's data, making it align with the robot's TF. Note that while a Tool Transform is applied, the sensor's axes labels will not match the output data.

• Force Search Job starts the Target Monitoring Task of the MotoPlus backend program. This backend Task will set a DO to ON while the desired target condition is met. This DO must be electrically connected to the DI with a jumper wire (and ground wire), such that if the DO is turned on/high, the DI is also on.
• The Force Search Job runs an IMOV in the specified Tool Frame of the specified Distance, Direction, and Speed. The IMOV is interrupted if the DI turns on.
• The Force Search Job turns off/deletes the Target Monitoring Task after the motion is complete.

Argument Number	Argument	Units	Accepted Values (Smart Pendant)*	Purpose
1	Direction	-	1 = X, 2 = Y, 3 = Z	The axis (in Tool coordinate frame) in which the robot will move. Note that sign (+/-, forwards/backwards) is determined by the Distance argument, not Direction.
2	Type	-	1 = Search for increase in force, 2 = Search for decrease in force	When searching for an increase in force, the stop condition is met when the current force is greater than the target force. When searching for a decrease in force, the stop condition is met when the current force is less than the target force.
3	Distance	If entered in Smart Pendant Programming Panel: mm. If entered directly in INFORM Job call: micrometers (0.001mm)	-5000 - 5000 mm*	Maximum search distance. If the target force condition is never met, the robot will move this distance in the specified Direction. Enter a negative Distance in order to move in a negative direction. * Large search distances are easy to see during testing. However, for best results in production, limit Force Search distance to just a few mm.
4	Speed	mm/s	1 - 150 mm/s	Search speed in mm/s. Force Search performance is best at low speeds. The target force may be exceeded at high speeds if the robot does not have time to stop.
5	Target Force	N	+/- 0 to max force measurement range of the sensor (minus the mass of the tooling). Allowable entry -500 - 500 N*	This target force will be compared to the current force in the specified axis, with the greater than/less than condition determined by Type argument. If not sure of the required force, start small. Most light touches between hard objects are around 1 - 5 N. *The sensing range is limited by the sensor model and calibration size. The smallest possible change in force that can be detected is limited by the sensor's specified resolution.
6	Tool Frame	-	0 - 63	The user-defined robot Tool Frame (TF) to run the motion in. The TF axes must align with the F/T sensor's axes.

* The Smart Pendant Extension will only accept certain values when configuring Force Search from the Programming Panel. The MotoPlus Application will technically receive any value, but these ranges are the recommended limits.

• The Demo jobs are provided as an example for how to use the Core Jobs in a user application.
• CAUTION: Demo Jobs contain motion!! The positions should be checked for your robot before running. Modify the positions if needed.

• NETFTS-DEMO-ZSEARCH.JBI
• This job demonstrates an up/down Force Search and a Tool Transform.
  1. Robot moves to Start Position 1.
  2. The sensor's Tool Transform is cleared out (all 0s).
  3. The sensor is biased.
  4. Robot moves in +Z (relative to Tool Frame #0) at 150 mm/s until it hits an object (detects Fz < -10N) or until 100mm is travelled.
  • Tip: Use an object to touch the sensor and make the robot stop before the 100mm is reached.
  5. Robot moves to Start Position 2.
  6. The sensor is biased. Although the last bias was not long ago, another bias is required since a Tool Transform was applied since the last bias.
  7. A Tool Transform is applied to the sensor data to rotate it 180 degrees about its Y axis. This means the sign of the Force Z data will be flipped.
  8. Robot moves in +Z (relative to Tool Frame #0) at 150 mm/s until it hits an object (detects Fz > 10N) or until 100mm is travelled.
  • Note that the evaluation condition is different here, since the Tool Transform flipped the data. We had to flip the evaluation condition in order to achieve the same behavior as in Step 4.

• NETFTS-DEMO-X&YSEARCH.JBI
• This job demonstrates a side to side Force Search.
  1. Robot moves to Start Position 1.
  2. The sensor is biased.
  3. Robot moves in +X (relative to Tool Frame #0) at 150 mm/s until it hits an object (detects Fx < -10N) or until 100mm is travelled.
  • Tip: Use an object to touch the sensor and make the robot stop before the 100mm is reached.
  4. Robot moves to Start Position 2.
  5. The sensor is biased.
  6. Robot moves in +Y (relative to Tool Frame #0) at 150 mm/s until it hits an object (detects Fy < -10N) or until 100mm is travelled.
  • Tip: Use an object to touch the sensor and make the robot stop before the 100mm is reached.