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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2. Overview
This manual provides an overview of the ATI F/T Axia kits compatible with a UR CB-series robot and procedures
to set-up the ATI URCaps software. For programming the ATI URCaps software and demo programs, refer to the
manual. The ATI URCaps software enables the customer to use a UR robot with an ATI Ethernet
Force/Torque (F/T) sensor.
F/T sensors convert sensed loads from forces and torques into electrical signals. The F/T sensor provides data to
the robot. This data is the six DoF (degrees of freedom): F
x
\ F
y
\ F
z
\ T
x
\ T
y
\ T
z
. 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 algorithms.
The customer drawing (ATI P/N 9230-05-1507) for the sensor is available on the ATI website:
com/app_content/Documents/9230-05-1507.auto.pdf
.
Communicating with the sensor and UR CB-series robot requires a knowledge of Ethernet protocol, and how to
operate the UR CB-series teach pendant interface
Polyscope
. For more information about UR products, refer to
https://www.universal-robots.com/support/
. For more information on the ATI F/T sensors, refer to the
following table:
Table 2.1—ATI F/T Sensor Manuals
ATI F/T Sensor
Manual P/N
Ethernet Axia
All Other Ethernet Sensors
Figure 2.1—Overview
UR Robot
UR Teach
Pendant
Ethernet Axia Sensor
Customer Tooling
