3. Extension Programming Panel - ati-ia/yaskawa-ft-ethernet GitHub Wiki

Prerequisites

  • A robot job must be open for editing on the Smart Pendant

  • If a job is not currently opened, click on 'Current Job' in the menu to open your last edited job. If you want to choose a job or create a new job, click on "Job List". Once the job of choice is opened for editing, the programming panel will be visible.

    [Click here to expand] Opening a job for editing
    • Select either "Current Job" or "Job List"

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    • If "Job List" is selected, a list of jobs on the Smart Pendant will pull up. Select the desired job and then click the "Edit" button.

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    • Once the job is open for editing, the programming panel appears along the bottom of the screen. The line that is darker than the rest is the currently selected line of code. Jobs calls will be inserted under the currently selected line.

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    F/T Jobs

    F/T Jobs logo

Using the F/T Jobs Programming Panel

  1. Click on the button with the ATI Logo as shown in the photo under "F/T Jobs" above. Clicking this will open up the panel with multiple tabs containing different F/T jobs that are available.

    F/T Job Tabs

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  2. Select the page of the job call you wish to insert.

  3. Fill in all the fields on the page (Note that some jobs may not have fields, these jobs do not require any parameters)

  4. Click on the Insert button to add the job under the currently selected line

  5. The job call should appear in the current job's code

    • If the job call does not appear it may be because:
      • Fields not filled in
      • Job does not exist
      • Attempting to call job inside of itself

  6. Once the job call is inserted, it must be edited manually from the inserted line in the current program. Changing the fields will not change the job call and instead will insert a new job call

Jobs

Bias

Bias Page

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

Tool Transform

Tool Transform Page

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  • 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.

Force Search

Force Search Page
  • The message at the bottom of the page updates when the fields are edited.

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  • 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.

Hardware Requirements for Force Search

  • 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.

Force Search Coordinate Frame

  • 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 Operation

  • 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.
Required parameters:
Parameter Accepted Values Purpose
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 parameter, not Direction.
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.
Distance -5000 - 5000 mm* Maximum search distance in mm. 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.
Speed 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.
Target Force +/- 0 to max force measurement range of the sensor (minus the mass of the tooling). Allowable entry -500 - 500 N* Target force in Newtons. This target force will be compared to the current force in the specified axis, with the greater than/less than condition determined by Type parameter. 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.
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.
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