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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Glossary
Term Denition
AcceptableStatusCondition
AusersetstateduringwhichtheATIURCapsoftwareignorescertain
statusbitsfromtheATIF/TsensorsothattheURrobotcancontinue
operation.
Algorithm
Aprocessorsetofrulestherobotusestoprovideforcefeedbacktocontrol
the robot motion.
ATI Ethernet Axia Sensor or
ATI NET F/T Sensor
AnATIF/TsensorthatusesEthernetprotocol.
“ATI FT Daemon failed” Error
AnerrorthatoccursiftheATIURCap’sPython
™
scriptisunabletorun
correctly.ThePython
™
script/DaemonrunsinthebackgroundontheUR
controller’sLinuxcomputer.
ATI NET F/T Sensor An ATI Ethernet F/T sensor that is not an Axia80.
ATI F/T URCap Software
AnATIsoftwareprogramthatenablestheURrobottousedatafromanATI
F/T sensor for force feedback control.
CenterofGravity(CG)
Thepointofamassaroundwhichtheresultanttorquefromgravityforcesis
zero.
Daemon
APython
™
programthatrunscontinuouslyontheURcontroller’sLinux
computer.IthandlesperiodicservicerequeststhattheATIURCapsoftware
expectstoreceive.Thedaemonprogramcanforwardtheserequeststo
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
DegreesofFreedom(refertothefollowingdenition:SixDegreesof
Freedom)
Ethernet AnIEEEstandardforlocalnetworktechnology.
Force
Thepushorpullexertedonanobject.Mathematically,forceisexpressed
as:Force=massxacceleration
F/T Force/Torque
F/T Sensor
Thedevicethatconvertssenseloadsfromforceandtorqueintoan
electrical signal.
Interface Plate
Aseparateplatethatattachesthesensortoanothersurface.Interface
platesareoftenusediftheboltpatternontheMAPorTAPdoesn’tmatch
theboltpatternontherobotarmorcustomertooling.Theinterfaceplate
has two bolt patterns on either side of the plate. One side is for the MAP or
TAP.Theothersideisfortherobotarmorcustomertooling.
MountingAdapterPlate|MAP
Thesurfaceofthesensorthatattachestoaxedsurfacelikeaninterface
plate or robot arm.
Plug-inTechnology
Acustomizedprogramthatwhendownloadedandinstalledontoahost
deviceaddsaspecicfeaturetoanexistingcomputerprogram.
P/N PartNumber
Polyscope UR software on the teach pendant.
Six Degrees of Freedom Fx,Fy,Fz,Tx,Ty,andTz
Sense loads
TheATIF/Tsensordetectssenseloadsthatareacumulationofforcesand
torquesacteduponthecustomertooling.
StatusBit AunitofcomputerdatasentfromtheATIF/Tsensor.
ToolAdapterPlate|TAP
Thesurfaceofthesensorthatattachestoaxedsurfacelikeaninterface
plateorthecustomertooling.