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Manual, FT Sensor, ATI URCaps Software Installation and Setup for UR CB-Series

Document #9610-05-1036-07

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • 

www.ati-ia.com

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6.  Terms and Conditions of Sale

The following Terms and Conditions are a supplement to and include a portion of ATI’s Standard Terms and 

Conditions, which are on file at ATI and available upon request.

ATI warrants to Purchaser that force torque sensor products purchased hereunder will be free from defects in 
material and workmanship under normal use for a period of one (1) year from the date of shipment. The warranty 

period for repairs made under a RMA shall be for the duration of the original warranty, or ninety (90) days from 

the date of repaired product shipment, whichever is longer. ATI will have no liability under this warranty unless: 

(a) ATI is given written notice of the claimed defect and a description thereof with thirty (30) days after Purchaser 

discovers the defect and in any event, not later than the last day of the warranty period and (b) the defective 
item is received by ATI not later than ten days after the last day of the warranty period. ATI’s entire liability and 
Purchaser’s sole remedy under this warranty is limited to repair or replacement, at ATI’s election, of the defective 
part or item or, at ATI’s election, refund of the price paid for the item. The foregoing warranty does not apply to any 
defect or failure resulting from improper installation, operation, maintenance, or repair by anyone other than ATI.

ATI will in no event be liable for incidental, consequential, or special damages of any kind, even if ATI has been 
advised of the possibility of such damages. ATI’s aggregate liability will in no event exceed the amount paid by the 
purchaser for the item which is the subject of claim or dispute. ATI will have no liability of any kind for failure of 
any equipment or other items not supplied by ATI.

No action against ATI, regardless of form, arising out of or in any way connected with products or services supplied 
hereunder, may be brought more than one year after the cause of action accrued.

No representation or agreement varying or extending the warranty and limitation of remedy provisions contained 
herein is authorized by ATI, and may not be relied upon as having been authorized by ATI, unless in writing and 

signed by an executive officer of ATI.

Unless otherwise agreed in writing by ATI, all designs, drawings, data, inventions, software, and other technology 
made or developed by ATI in the course of providing products and services hereunder, and all rights therein under 
any patent, copyright, or other law protecting intellectual property, shall be and remain ATI’s property. The sale 
of products or services hereunder does not convey any expressed or implied license under any patent, copyright, 
or other intellectual property right owned or controlled by ATI, whether relating to the products sold or any other 
matter, except for the license expressly granted below.

In the course of supplying products and services hereunder, ATI may provide or disclose to Purchaser confidential 

and proprietary information of ATI relating to the design, operation, or other aspects of ATI’s products. As between 
ATI and Purchaser, ownership of such information, including without limitation any computer software provided 
to Purchaser by ATI, shall remain in ATI and such information is licensed to Purchaser only for Purchaser’s use in 
operating the products supplied by ATI hereunder in Purchaser’s internal business operations.

Without ATI’s prior written permission, Purchaser will not use such information for any other purpose of provide or 
otherwise make such information available to any third party. Purchaser agrees to take all reasonable precautions to 
prevent any unauthorized use or disclosure of such information.

Purchaser will not be liable hereunder with respect to disclosure or use of information which: (a) is in the public 
domain when received from ATI, (b) is thereafter published or otherwise enters the public domain through no fault 
of Purchaser, (c) is in Purchaser’s possession prior to receipt from ATI, (d) is lawfully obtained by Purchaser from a 
third party entitled to disclose it, or (f) is required to be disclosed by judicial order or other governmental authority, 

provided that, with respect to such to maintain the confidentiality of such information.

Summary of Contents for 9105-NET-AXIA80-M20

Page 1: ...otic Productivity Pinnacle Park 1031 Goodworth Drive Apex NC 27539 Tel 1 919 772 0115 Fax 1 919 772 8259 www ati ia com ATI F T Sensor URCaps Software Installation and Setup Manual for UR CB Series Ro...

Page 2: ...incorporates ATI components within any potentially life threatening system must obtain ATI s prior consent based upon assurance to ATI that a malfunction of ATI s component does not pose direct or ind...

Page 3: ...ing an ATI F T Ethernet Sensor to the UR CB series Robot 10 4 Setup of the ATI F T URCaps Software 10 4 1 Downloading ATI F T URCaps Software from the ATI Website 10 4 2 Loading the ATI F T URCaps Sof...

Page 4: ...appropriate Demo Program A downloadable program that demonstrates the capabilities of the ATI URCap software and ATI F T sensor DoF Degrees of Freedom refer to the following definition Six Degrees of...

Page 5: ...is expressed as Torque Force x Moment Arm Distance UR CB series robot A collaborative robot manufactured and distributed by the company Universal Robots UR CB denotes a robot from the CB series produ...

Page 6: ...equences of not avoiding the hazard and the method for avoiding the situation CAUTION Notification of information or instructions that if not followed could result in moderate injury or will cause dam...

Page 7: ...Fz Tx Ty Tz UR robots have algorithms to use force feedback to control robot motion By using plug in technology the ATI URCaps software allows a user to input data from an ATI sensor into UR algorithm...

Page 8: ...500 1064012 15 for mounting the sensor to the interface plate 4 M6 1 x 18 mm socket head cap screws ATI P N 3500 1066018 15 for mounting the interface plate to the robot arm 2 M4 x 12 mm dowel pins fo...

Page 9: ...I P N 9105 C ZC22 ZC28 4 Power Ethernet Cable to the customer s application ATI P N 9105 C ZC28 U RJ45S 4 Ethernet Axia Sensor ATI P N 9105 NET AXIA80 M20 Available with the 9105 UR AXIA80 Kit L brack...

Page 10: ...applicable manual in Table 2 1 4 Setup of the ATI F T URCaps Software To use an ATI F T sensor with a UR CB series robot the user must first install and set up the ATI URCaps software to the robot For...

Page 11: ...re on the Teach Pendant To load the ATI F T URCaps software from the USB drive to the teach pendant refer to the following steps 1 Insert a USB drive that contains the ATI F T URCaps package into the...

Page 12: ...Fax 1 919 772 8259 www ati ia com 12 4 On the Setup Robot screen select the URCaps button Figure 4 3 Setup Robot Screen 5 The URCaps screen opens Load the ATI F T URCaps software from the USB drive a...

Page 13: ...f Click Open The file loads onto the teach pendant 6 When the file has loaded the software ATI Axia Force Torque Sensor appears in the Active URCaps field NOTICE The UR system prompts a reboot of the...

Page 14: ...n Figure 4 3 select the URCaps button 3 In the Active URCaps field select the file to uninstall from the teach pendant 4 Click the button on the bottom of the screen Figure 4 7 Active URCaps 4 3 Set u...

Page 15: ...mple of a configuration that includes the ATI mounting interface plate the Axia sensor and the tool interface plate These values are from customer drawing To these values the user may need to add addi...

Page 16: ...efer to the applicable manual in Table 2 1 Robot refer to the applicable UR manual 7 Leave blank or keep the default value in the F T Sensor Baud Rate field This field is ignored when using an Etherne...

Page 17: ...ark 1031 Goodworth Drive Apex NC 27539 Tel 1 919 772 0115 Fax 1 919 772 8259 www ati ia com 17 b Select the Save or Save As button to save changes Figure 4 12 Save 11 Once the sensor and robot are set...

Page 18: ...sensor with only a mounting interface plate or a sensor with mounting and tool interface plates 4 4 1 Tooling Mass and Offset for a Sensor and Mounting Interface Plate The ATI provided F T sensor and...

Page 19: ...different measurements Table 4 3 Sensor Center of Gravity with mounting interface plate Axis Sensor and Mounting Plate Models ATI Axia F T Sensor and ATI mounting interface plate ATI F T Ethernet Sen...

Page 20: ...ce frame origin refer to the customer drawing to the center of gravity of the customer s tooling This should include the mass and location of all customer provided fasteners and not ATI provided parts...

Page 21: ...set Robot Flange Mass of mounting interface plate Mass of tool interface plate Mass of ATI Ethernet Axia Sensor Sensor Reference Frame 0 791 kg 58 3 mm Table 4 4 Mass of a Sensor with Mounting and Too...

Page 22: ...surements Table 4 6 Center of Gravity of a Sensor with Mounting and Tool Interface Plates Axis Sensor and Mounting Plate Models ATI Axia F T Sensor and ATI Mounting Interface Plate ATI F T Ethernet Se...

Page 23: ...ce frame origin refer to the customer drawing to the center of gravity of the customer s tooling This should include the mass and location of all customer provided fasteners and not ATI provided parts...

Page 24: ...ting system PC type drivers application software and other relevant information about the application s configuration If possible be near the F T system when calling For additional troubleshooting inf...

Page 25: ...after the cause of action accrued No representation or agreement varying or extending the warranty and limitation of remedy provisions contained herein is authorized by ATI and may not be relied upon...

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