Refer to the [F/T Sensor System Overview] section of this Wiki for information on the ATI sensor system components and relevant documentation and software.

1. Establish communication with the sensor using a computer.
   • For Axias, refer to the Connecting Through Ethernet section of the Ethernet Axia manual.
   • For Net Boxes, refer to either NET F/T Quickstart Guide or the NET F/T Manual.
   • Note: The ATI sensor manuals refer to a software program, "ATI NET FT Demo". An alternative program, "F/T Data Viewer", can also be used.
2. The sensor's default IP address is 192.168.1.1, but it can be changed by the user. To change the sensor's IP address:
   1. Access the sensor's Communications Page with a PC.
   2. Set the IP Address Mode to Static
   3. Change the IP Address as desired.
   4. You can leave the IP Subnet Mask as 255.255.255.0 and the IP Default Gateway as the default.
   5. Click Apply and power cycle the sensor.
   6. If you changed the IP address to a different local network, you will need to change the IP address of your PC in order to reestablish communication.

1. Check the IP address of the Robot.
   • Smart Pendant
   • YRC Pendant
2. If needed, change the IP address of either the sensor or the robot. The following conditions must be met:
   1. The sensor and robot must be connected to the same network, with Ethernet cables and optionally, Ethernet switch(es).
   2. The sensor and robot IP address must be on the same local network.
   3. No other devices on the network share an identical IP address with the sensor or robot.
   • [Click here] Examples of valid IP address configurations:

     Sensor/Net Box	Robot
     192.168.1.1	192.168.1.31
     172.168.1.1	172.168.1.31
     10.1.5.20	10.1.5.4
     192.168.1.x, where x and y are unique numbers between 0 and 255	192.168.1.y, where x and y are unique numbers between 0 and 255
     a.b.c.x	a.b.c.y, where the numbers in a.b.c match between sensor and robot, but x and y are unique

3. Test the network setup.
   1. Connect the sensor, robot, and computer all to the same Ethernet switch and configure their IP addresses to be on the same local network.
   2. Open the web browser of the sensor (type the sensor's IP address into the computer's browser), or ping the sensor.
   3. Open the web browser of the robot controller (type the robot's IP address into the computer's browser), or ping the robot controller.
   4. If the computer can ping and bring up the web browsers of both the sensor and the robot controller, then the sensor and robot should be able to communicate.
4. NOTE: The user must be prepared to enter the sensors's known IP address into the Smart Pendant Extension or MotoPlus Application, and it must already be on the same local network as the robot!

1. (Axias only) From the ADC Settings web page, adjust the sensor's ADC rate if needed.
   • This is the sensor's internal sampling rate. A high ADC rate (7912 Hz or 8 kHz) is preferred for this application.
2. From the Communications web page, adjust the sensor's RDT rate if needed.
   • This is how fast it streams data to the robot. A high RDT rate is preferred for this application. The RDT rate cannot be higher than the ADC rate.

1. (Optional) From the ADC Settings web page, adjust the sensor's filter.
   • Filters may be required in applications with a large amount of mechanical or electrical noise. Filtering will cause a delay (increase latency) in the data. Many applications do not require a filter.

If desired, once communication is established, complete an Accuracy Check.