2. Extension Utility - ati-ia/yaskawa-ft-ethernet GitHub Wiki

Diagram

[Click here to expand] Overview of the Ethernet F/T Sensor Utility in use

image

Section Name Description
1 Navigation Tabs The navigation tabs allow you to change between the F/T Sensor Data page and the Settings page.
2 F/T Value Global Variable Address Once a start index has been chosen for the variable addresses, the highlighted box will display which Real variable address space each F/T value is located in.
3 Table of Force Torque Values This table shows the Force values for each axis (X, Y, Z) and Torque values about each axis. Note: the speed of data display on the Smart Pendant is much slower than the rate at which the robot controller actually receives data from the sensor. This table view is for a general reference rather than the exact sensor value at the exact moment in time that the table is viewed.
4 Info Button Info buttons as shown are located throughout the extension to explain the function, purpose, or meaning of the object that it is associated with. The info button that is highlighted on this image is the info button for the Bias button. When clicked, a popup will appear, explaining what the Bias button will do.
5 Bias Button Using the bias button will tare/zero the sensor. This action is done internally on the sensor, using the values that the sensor is reading internally at the time it receives the Bias command.
6 Device Status Message and Code The line at the bottom of the page represents the status of the sensor. It will provide a human readable version of the status, as well as a status code that represents the condition of the sensor. The status code bitmap and their meanings are also located in the manual for the sensor system.

Opening the Utility

  1. The Utility is located under "Utility" on the Menu Dropdown

  2. To open the Utility, click on the name of the utility, "Ethernet F/T Sensor"

    How to access the Utility through the Smart Pendant menu

    image

  3. The Utility should pop up and display with a table for force torque values as well as a bias button

    • If you have not used the Utility to set Settings before, the data will be set to 9 for all F/T values and the screen will inform you that you must fill in the settings on the settings tab

      The Utility upon opening with no previous saved settings

      image

    • If you have used the Utility before, the page will display with data streaming based on the settings you set previously. It will appear similar to the image of the Utility under the Diagram section a the top of this page.

Using the Utility

Settings

  1. Navigate to the "Settings" tab at the top of the Utility

    Settings Page

    image

    Note: Information about each field is provided by clicking the question mark icon next to the label above the entry field.

  2. Fill in the desired start index for Extension variables

    • The Extension requires several variables to run.

    • This will set the start index for all global variable addresses except for Position type.

      The global variables that are affected by this variable are located in this dropdown

      image

    • All global variable types affected will have the same start index for their variables.

    • If you are using global variables on the Smart Pendant, please check your variables for addresses that are available without overwriting other variables that are in use for other purposes.

    • If you have previously configured your variable locations and decide to move them, upon re-saving, the variables in the old locations will be cleared and the variables in the new locations will need to be reconfigured.

  3. Fill in the I/O index and position start index

    • The default value is 8 for I/O index

  4. Fill in the IP Address of your sensor.

    • The default IP address of ATI sensors is 192.168.1.1, but this may be changed by the user.
    • The sensor must be on the same local network as the robot (may require changing the IP address of either the sensor or the robot).
    • See System Requirements: Network Setup.

  5. Choose the type of sensor from the dropdown box. (Axia or Net Box)

    Example of the Settings page filled in

    image

  6. Click the save button once you are done choosing your settings. (NOTE: all fields must have valid entries to be able to save your setting)

  7. A prompt will show informing you of the indices that the variables used for this extension will be written to. Ensure that these variables are not in use by other applications

    The prompt will indicate which indices are going to be used

    image

  8. Once you accept the indices, the utility will write variable names to the indices provided. All indices used will have their values cleared from previous values

    The variables will be given names and the values will be cleared

    image

    image

    image

    • When the save is done, you will get a notification at the top of the pendant screen informing you that your settings have been saved

    • Successful Save Notification

      image

F/T Data

  1. Navigate back to the F/T Data tab and the data should be streaming from the sensor to the Utility's F/T Table.

  2. If desired, the sensor can be biased (zeroed/tared) simply by clicking the Bias button.

    F/T Data Page in Use

    image

⚠️ **GitHub.com Fallback** ⚠️