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

1. Review the Introduction and System Requirements. Ensure the following:

   • Compatible sensor
   • Compatible robot controller and/or pendant model
   • MotoPlus is enabled (Setting is Valid) on the controller (Outlined here)
   • Sensor and robot are on the same local network. Sensor Ethernet connection is connected to the robot. Sensor has a known IP address reachable by the robot.
     • TIP: First use a PC to confirm the sensor's IP address. If it is not a valid IP on the robot's network, change the sensor IP address so that it will be valid on the robot's network.
   • A jumper wire is connected between a pair of DI and DO. Refer to Wiring Installation.

2. Check for robot variables currently in use by other programs. The MotoPlus Application requires exclusive use of several robot variables. It is the user's responsibility to ensure that these are not being used by other programs. The MotoPlus application will overwrite them.

3. Download the latest ATI NETFTS MotoPlus .out file (for the corresponding controller model) from the Code page of this GitHub repository and save it to a USB.

4. Install the MotoPlus application to the controller, then power cycle the controller.(Outlined here)

5. Label robot BVars 80 through 84 according to the Robot Variable Mapping of this NETFTS Application. Exact labels/names do not matter. This is for user reference only.

6. Set BVar[84] = 0.

7. Enter the desired global variable start indices in BVar[80] and BVar[81]. This will define which other robot variables (aside from BVars 80 - 84, which cannot be changed) and Digital I/O will be used by the Application.

   • Leave BVar[84] = 0.

8. If not done already, connect a jumper wire between the DI and DO of the I/O start index specified in the previous step. In some controllers, a reference 0V or ground wire is also needed. If this step is skipped, the Application will still run, but the "Force Search" feature will not be able to stop the robot motion.

9. Label all other robot variables according to the user-entered start indices and the Robot Variable Mapping. Set all values to 0 as a default.

10. Enter the sensor's known IP address into robot SVar[n + 3].

11. Enter the sensor type into robot BVar[n + 0]. 1 = Ethernet Axia, 2 = NET Box.

12. Set BVar[84] = 1. This will initialize the Application variables and launch the F/T sensor communication.

1. View F/T data in Robot RVar[n] through RVar[n + 5]. View the units of the F/T data in SVar[n] and SVar[n + 1].

   • TIP: n is the value previously entered into BVar[80].
   • This F/T data is being streamed via UDP (ATI sensor RDT protocol). The units were read via TCP/IP.

2. Bias (Zero/Tare) the data by toggling BVar[n + 1] (set = 1, wait ~100ms, then set = 0)

   • This sends a bias command to the sensor via UDP; the data is biased internally on the sensor.
   • Alternate method: Instead of manually toggling the Bias variable, simply run or call the NETFTS_Bias.JBI robot job.

3. View Sensor Health message at SVar[n + 2].

   • Common errors will be interpreted into a String message and displayed here.
   • Uncommon errors will display a message directing the user to check the Status Code, available in decimal format via DVar[n].

Tool Transforms are optional. For information on Tool Transforms, refer to the sensor or Net Box manual. The Tool Transform can be set in advance via the sensor's web page, or it can be set dynamically via the MotoPlus Application.

Note: There is no way to read the current Tool Transform via the MotoPlus Application. To remove the Tool Transform, set a Tool Transform with all 0s for distance and rotation.

1. Turn off "Apply Tool Transform" by setting BVar[n + 3] = 0.

2. Enter the desired Tool Transform displacement units into BVar[n + 2]. Options are: 1 = Inch, 2 = Foot, 3 = Millimeter, 4 = Centimeter, 5 = Meter. Rotation units are always in degrees.

3. Enter the tool transform displacement and rotation values in IVar[n] through IVar[n + 5].

4. Apply the Tool Transform by toggling BVar[n + 3] (set = 1, wait ~100ms, then set = 0).

   • Turning off "Apply Tool Transform" does not remove the Tool Transform. It only means that a new Tool Transform will not be sent.

The user can re-enter the sensor settings or redefine the allocated variable indices without power cycling the robot or sensor.

1. Set BVar[84] = 0 to stop the F/T data reading task.

2. Take note of the previous values of BVars 80 and 81, then change them to the new desired start indices.

3. Relabel the variables as needed. To avoid confusion, be sure to clear the labels of the previously used variables.

4. Re-enter the sensor IP address and type.

5. Set BVar[84] = 1 to restart the F/T data reading task.

The MotoPlus Application itself cannot complete a Force Search motion. The NETFTS_ForceSearch.JBI robot job and jumpered DI and DO are required for the motion. The MotoPlus application simply does the force target monitoring: it evaluates the force target condition and turns on the DO if the condition is true. These steps will enable just the force target monitoring:

1. Set BVar[n + 4] = 0 to disable the Force Target Monitoring while new parameters are being entered.

2. Enter the desired Force Target Axis into BVar[n + 5]. (1 = X, 2 = Y, 3 = Z )

   • The MotoPlus Application will compare the target force to the actual force in this axis.
   • For a Force Search application, this is the axis (in Tool coordinate frame) in which the robot will move.

3. Enter the evaluation condition type into BVar[n + 6]. (1 = Search for increase in force, 2 = Search for decrease in force)

   • Search for Increase in Force: If actual force > target force, then condition is True and DO will be turned on.
   • Search for Decrease in Force: If actual force < target force, then condition is True and DO will be turned on.

4. Enter the target force, in the same units as the Force data, into RVar[n + 6].

5. Set BVar[n + 4] = 1 to enable the Force Target Monitoring. While this is = 1, the condition will be constantly evaluated. If it is true, the specified DO will be turned on. If it is false, the DO will be turned off.

6. When not using the Force Target Monitoring feature, set BVar[n + 4] = 0.