MP System Requirements - ati-ia/yaskawa-ft-ethernet GitHub Wiki

For Smart Pendant Users

If using a Smart Pendant, it is recommended to install the ATI Ethernet F/T Smart Pendant Extension .yip. The .yip will include 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 this MotoPlus Application .out as a standalone application if installing the Extension .yip!

System Components

From ATI

Compatible Sensors:

MotoPlus Application:

  • For Yaskawa Smart Pendant:
    • Smart Pendant users should install the ATI Ethernet F/T Extension instead of installing the MotoPlus Application directly. The Extension makes it easy to use the functions of the MotoPlus Application. Refer to the ATI Ethernet F/T Extension section of the Wiki.
  • For Yaskawa YRC Pendant:
    • 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.

(Optional) Related Software:

  • 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.

From Yaskawa

Contact your Yaskawa sales or applications representative to ensure you have the correct components for your robot and controller.

Compatible Robot Controllers

  • Compatible controller models:
    • YRC1000
    • YRC1000 micro (YRC1000µ)
    • DX200
  • Controller must be compatible with MotoPlus Applications
  • Controller must have an Ethernet adapter (Ethernet port)
  • Minimum Controller Software Version
    • YRC1000: YAS4.28 or higher
    • YRC1000 micro: YBS2.47 or higher

Hardware Setup

Sensor Mechanical Installation

  • The sensor is 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.

Sensor Cabling & Power

  • The Ethernet sensor is powered on and the Ethernet connection is connected to the robot. It does not need to be directly connected; the Ethernet connection can be through a switch.
  • The sensor or Net Box's Status LED and the L/A LED both show Healthy.

Robot I/O

  • 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.

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

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

    • [Click here] 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.

      image

Software Setup

  • MotoPlus Applications are Valid on the robot controller (Outlined here)

General robot operation

  • The user is expected to be familiar with most functions of the robot. Introductory information on certain concepts such as Robot Variable Address Spaces can be found in the Extension area of this Wiki, although that section is written for Smart Pendant users.

Network Setup

  • The user has already set the IP address of the sensor to be on the same local network as the robot

  • No other devices on the network share an identical IP address with the sensor or robot.

  • The user must be prepared to enter the sensors's known IP address into the MotoPlus Application, and it must already be on the same local network as the robot.

    • This can be tested first by connecting a computer that is also on same network. 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.
  • [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
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