ATI Technologies 9105-NET-AXIA80-M20 Software Installation And Setup Manual Download Page 3

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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 •

Table of Contents

Foreword .......................................................................................................................................... 2

Glossary ........................................................................................................................................... 4

1. Safety ......................................................................................................................................... 6

1.1 Explanation of Notifications

......................................................................................................... 6

1.2

General Safety Guidelines ............................................................................................................ 6

1.3

Safety Precautions ........................................................................................................................ 6

2. Overview ................................................................................................................................... 7

2.1

ATI F/T Kits for Ethernet Axia ....................................................................................................... 8

2.1.1

Unpacking the ATI F/T Kit ................................................................................................... 9

3. Installation .............................................................................................................................. 10

3.1

Installing 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 Software on the Teach Pendant ................................................ 11

4.2.1

Remove the ATI F/T URCaps Software from the Teach Pendant ..................................... 14

4.3

Set-up an ATI F/T Ethernet Sensor on the Teach Pendant ...................................................... 14

4.4 Determining the Tooling Mass and Offset

................................................................................. 18

4.4.1 Tooling Mass and Offset for a Sensor and Mounting Interface Plate

............................... 18

4.4.2 Tooling Mass and Offset for Sensor with Mounting and Tool Interface Plates

.................. 21

5. Troubleshooting ..................................................................................................................... 24

5.1

Errors with the ATI URCap Software ......................................................................................... 24

6. Terms and Conditions of Sale ............................................................................................... 25

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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