If using a Smart Pendant, it is recommended to install the ATI Ethernet F/T Smart Pendant Extension .yip. The Extension makes it easy to use the functions of the MotoPlus Application. The .yip will include both the Extension and the MotoPlus application, but the user is not required to interact with the MotoPlus Application directly. Refer to the Extension section of this Wiki.

NOTE: Do not install the MotoPlus Application .out as a standalone application if installing the Extension .yip!

Refer to the Yaskawa Robot Setup section of this wiki.

From the Code page of this yaskawa-ft-ethernet GitHub repository, download the following files and save them to a USB:

• ATI's Ethernet F/T YIP: ATI_FTEthernet_x_x_x.yip, where x indicates latest version.

1. Insert the USB with the YIP into the Smart Pendant
2. Navigate to the Packages Screen
3. Click Install and select the desired YIP
4. Confirm the installation steps
5. The robot will need to cycle power in order to install the MotoPlus Application Component. After cycling power, it will resume the rest of the YIP install.

The YIP should install the following components:

1. ATI Ethernet F/T (NETFTS) Extension
   • Visible from the Packages > Extensions page
2. ATI NETFTS MotoPlus Application
   • Visible from the Controller page
3. Robot Jobs
   • The following robot jobs should be available under the tag "NETFTS":
     • NETFTS_BIAS.JBI
     • NETFTS_FORCESEARCH.JBI
     • NETFTS_TT.JBI
     • NETFTS-DEMO-X&YSEARCH.JBI
     • NETFTS-DEMO-ZSEARCH.JBI
4. Variable Configuration:
   • Variables 80 through 84 should now be labeled and reserved for ATI Ethernet F/T (NETFTS)

Users without a Smart Pendant cannot use the YIP or Extension. The MotoPlus Application can be installed and used on its own.

Refer to the Yaskawa Robot Setup section of this wiki.

The MotoPlus Application requires exclusive use of several robot variables. It is the user's responsibility to ensure that these are not being used by other programs. The MotoPlus application will overwrite them.

From the Code page of this yaskawa-ft-ethernet GitHub repository, download the following files and save them to a USB:

• ATI's NETFTS MotoPlus Application .out file
  • Available for YRC1000, YRC1000µ, and DX200.
  • Choose the corresponding .out file for the robot controller model being used.
• Robot Jobs:
  • NETFTS_BIAS.JBI
  • NETFTS_FORCESEARCH.JBI
  • NETFTS_TT.JBI
  • NETFTS-DEMO-X&YSEARCH.JBI
  • NETFTS-DEMO-ZSEARCH.JBI

Install the MotoPlus Application on the robot and power cycle the controller.

• Note: MotoPlus Applications must be Valid on the robot controller
• See robot controller manual for New Language Environment MotoPlus, Installation and Start-up Application Program section.
  • YRC1000
• For convenience, a summary is provided here:
  • Copy the .out file (compiled for the correct controller model) to a USB drive known to work with the Yaskawa controller. Insert the USB into the YRC Pendant.
  • Press and hold Main Menu on the Teach Pendant while powering on the robot to enter into Maintenance Mode.
  • Log in as Management from the Security menu
  • Open the MotoPlus Appl. menu and select Load User Application
  • Navigate to the desired .out file on the USB. Select and load the file.
• Power cycle the controller.

Load the provided Jobs onto the robot.

The MotoPlus Application uses several robot variables, but does not automatically name them. Label robot BVars 80 through 84 according to the Robot Variable Mapping of this NETFTS Application. Exact labels/names do not matter. This is for user reference only.

• F/T Data Viewer: PC software program for viewing F/T data when not used on the robot.
• NET F/T Demo: Simple, Java-based software program for viewing F/T data, when not used on the robot. Compatible with Linux.