3. Wiring Installation - ati-ia/yaskawa-ft-ethernet GitHub Wiki

Wiring Installation

For complete information, refer to the appropriate ATI manual for the sensor and sensor system interface being used. A summary of wiring 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

Sensor Wiring

Sensor Cable Routing

1. Install cable support hardware (if available) to the interface plate.

  • The cable should be supported where it connects to the sensor. The connection point should not move or be pulled on during robot motion.
  • Axia cable kits include a support bracket and P-clip to support the cable and prevent motion at the connector. Other interface plates may include threaded holes for user-provided support hardware.

2. Route the cable down the robot arm or through the dress pack.

3. Connect the cable to the sensor.

  • Align the keyway on the sensor and cable connector before tightening. Do not apply excessive force to the sensor or cable connector during installation.

Sensor Wiring

1. Connect the Sensor's Power input

  • Refer to the sensor manual and cable drawing (if available)
  • Ethernet Axias are supplied with flying leads (unterminated wires) for power input. Users can wire this to a dedicated power supply, or wire it off the 24V supply on the robot's I/O block.
  • Ethernet Axia80 Manual Electrical Specifications Table here.
  • Ethernet Axia Manual Pin Assignment Table here.
    • Example of wiring Ethernet Axia Cable 9105-C-ZC28-U-RJ45S-x to Robot I/O block:
      Wire Jacket Color Signal Connect To
      Brown V+ +24V
      Brown/White V- 0V
      Shield (silver braid) Shield Ground

2. Connect the sensor's Ethernet

  • Ethernet Axia Cable 9105-C-ZC28-U-RJ45S-x terminates in an RJ45 connector.
  • Net Boxes have an M12 Ethernet connector, but are typically supplied with a short ATI M12 to female RJ45 adapter cable. The user then provides their own standard CAT5e or higher RJ45 Ethernet cable.
  • The sensor's Ethernet connection will need to be connected to a computer for initial setup, but it will need to be connected to the robot for application use.
  • The sensor's Ethernet connection can be connected directly to the robot's RJ45 port, or both the sensor and the robot can be connected to an Ethernet switch. A switch is recommended so that the sensor, robot, and PC can all connect to each other without rewiring.

3. Check Sensor LEDs

  • At this point, if the power supply is turned on, the sensor should be powered on. The Status LED should be green.
  • Click here for Ethernet Axia LED operation
  • If the Ethernet network is not yet configured, the L/A LED may be off.

Robot Wiring

1. I/O Jumper Wire

  • A pair of Digital I/O (for example DI[8] and DO[8]) must be electrically jumpered together such that if the DO is on, the DI is also on.

    • If this step is skipped, the Application will still run, but the "Force Search" feature will not be able to stop the robot motion.

  • YRC1000micro Example IO block:

    • In some controllers, the DO has two terminals, one of which must be manually connected to 0V or ground.
    • For example, in this IO block, DO8 is labeled with terminals 42 and 42C. Terminal 42 is jumped to DO8, and Terminal 42C is jumped to 0V.

  • The jumper wire setup can be tested by manually setting the DO to ON and checking the response of the DI.

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