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Engineered Products for Robotic 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 Robots

Document #: 9610-05-1036

Содержание 9105-NET-AXIA80-M20

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...