2. Mechanical Installation - ati-ia/yaskawa-ft-ethernet GitHub Wiki

Mechanical Installation

For complete information, refer to the appropriate ATI manual for the sensor and sensor system interface being used. A summary of mechanical install instructions is included on this Wiki page. This Wiki also links to portions of the ATI Ethernet Axia80 manual as an example. If using a different model sensor, manuals may be slightly different.

Precautions

  • Refer to the Installation section of the manual and review Safety precautions.
  • Ensure that fasteners do not exceed the maximum customer interface depth (indicated on the sensor drawing). Too long fasteners can damage internal electronics and voids the warranty.
    • ATI Yaskawa-Ready F/T Kits contain fasteners of the correct length for each sensor and interface plate combination
  • Do not apply loads outside of the sensor's calibrated measurement range, even when the sensor is turned off. Excessive load will permanently damage the sensor.
    • Be aware of long moment arms (such as long tooling). These can create a high torque load on the sensor.

Sensor Mechanical Installation

Mount the Sensor to the Robot

1. Obtain a mounting interface plate to mount a specific sensor model to a specific robot flange pattern.

  • ATI Yaskawa-Ready F/T Kits contain a mounting interface plate. ATI may have additional interface plate designs available. The user can also design their own.

2. Mount the sensor to the robot according to the sensor's installation instructions.

  • The order of operations depends on the interface plate. For some mounting interface plates, the plate mounts to the robot first. Then the sensor mounts to the plate. For others, the plate is first mounted to the sensor, then the plate is mounted to the robot.
Mounting Example:

3. Confirm the sensor's rotational alignment to the robot's Tool Frame.

  • The sensor's coordinate axes are labeled on drawings and on the actual sensor body see Axia80 image here.
    • For example, pushing on the sensor's +Y label will cause a force in the negative Y direction (Fy value will decrease).
  • The mechanical rotation is determined by the location of the robot dowel relative to the sensor dowels on the interface plate.
  • The sensor should preferably be mounted to the robot wrist such that the sensor axes align with the robot's default TCP axes.
    • If this is not the case, the sensor/robot axes alignment can be corrected in software by one of the following methods:
      1. The robot's Tool Frame (TF) definition can be rotated to align with the sensor axes. A sensor-aligned TF must be used for all F/T sensor-related programs and motion.
      2. A Tool Transform can be applied to the sensor, either via the Smart Pendant Extension/MotoPlus Application, or via the sensor's internal web browser Configurations Page.

Mount Tooling to the Sensor

CAUTION: Be aware of long moment arms (such as long tooling). These can create a high torque load on the sensor. The sensor can be overloaded even if it is not powered on.

Option 1: Install tooling directly to the sensor tool-side

  • Refer to the sensor drawing for sensor's tool-side mounting pattern
  • CAUTION: Do not let fasteners exceed the maximum customer interface depth!

Option 2: Use a tool-side Interface Plate between the sensor and other tooling

  • ATI provides tool-side interface plates for certain sensor models which adapt them to mimic certain robot flange patterns. This allows tooling designed for the robot to be mounted to the sensor.
  • Tool-side interface plates are typically included in ATI F/T Kits.
  • Refer to the kit drawing or interface plate drawing for the tool-side interface plate mounting pattern.
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