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 •
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Glossary
Term
Definition
Acceptable Status Condition
A user set state during which the ATI URCap software ignores certain
status bits from the ATI F/T sensor so that the UR robot can continue
operation.
Algorithm
A process or set of rules the robot uses to provide force feedback to control
the robot motion.
ATI Ethernet Axia Sensor or
ATI NET F/T Sensor
An ATI F/T sensor that uses Ethernet protocol.
“ATI FT Daemon failed” Error
An error that occurs if the ATI URCap’s Python
™
script is unable to run
correctly. The Python
™
script/Daemon runs in the background on the UR
controller’s Linux computer.
ATI NET F/T Sensor
An ATI Ethernet F/T sensor that is not an Axia80.
ATI F/T URCap Software
An ATI software program that enables the UR robot to use data from an ATI
F/T sensor for force feedback control.
Center of Gravity (CG)
The point of a mass around which the resultant torque from gravity forces is
zero.
Daemon
A Python
™
program that runs continuously on the UR controller’s Linux
computer. It handles periodic service requests that the ATI URCap software
expects to receive. The daemon program can forward these requests to
other programs or processes as 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
Freedom)
Ethernet
An IEEE standard for local network technology.
Force
The push or pull exerted on an object. Mathematically, force is expressed
as: Force = mass x acceleration
F/T
Force/Torque
F/T Sensor
The device that converts sense loads from force and torque into an
electrical signal.
Interface Plate
A separate plate that attaches the sensor to another surface. Interface
plates are often used if the bolt pattern on the MAP or TAP doesn’t match
the bolt pattern on the robot arm or customer tooling. The interface plate
has two bolt patterns on either side of the plate. One side is for the MAP or
TAP. The other side is for the robot arm or customer tooling.
Mounting Adapter Plate | MAP The surface of the sensor that attaches to a fixed surface like an interface
plate or robot arm.
Plug-in Technology
A customized program that when downloaded and installed onto a host
device adds a specific feature to an existing computer program.
P/N
Part Number
Polyscope
UR software on the teach pendant.
Six Degrees of Freedom
Fx, Fy, Fz, Tx, Ty, and Tz
Sense loads
The ATI F/T sensor detects sense loads that are a cumulation of forces and
torques acted upon the customer tooling.
Status Bit
A unit of computer data sent from the ATI F/T sensor.
Tool Adapter Plate | TAP
The surface of the sensor that attaches to a fixed surface like an interface
plate or the customer tooling.
