Software Downloads

9121-DA4-M: 9030-20-1007.eds
9121-DA4-T: 9030-20-1008.eds
9121-DB10-M: 9030-20-1009.eds
9121-DB10-T: 9030-20-1010.eds
9121-DB12-M: 9031-20-1040.eds
9121-DB13-T: 9030-20-1008.eds
9121-DB2-M: 9030-20-1009.eds
9121-DB2-T: 9030-20-1010.eds
9121-DD3-M: 9030-20-1005.eds
9121-DJ3-M: 9030-20-1013.eds
9121-DJ4-M: 9030-20-1013.eds
9121-DJ8-M: 9030-20-1013.eds
9121-DU2-M: 9031-20-1038.eds
9121-DU3-M: 9031-20-1075.eds

EDS Files

9121-DKD-M: 9031-20-1021.eds
9121-DKF-M: 9031-20-1027.eds
9121-DKG-M: 9031-20-1027.eds
9121-DKK-M: 9031-20-1027.eds
9121-DKL-M: 9031-20-1063.eds
9121-DKLZ1-M: 9031-20-1063.eds
9121-DKP-M: 9031-20-1079.eds
9121-DKR-T: 9031-20-1084.eds
9128-CYE1-M: 9031-20-1101.eds

Communication Configuration Utility for DKD Modules

GSDML Files

9121-DL10-M: 9031-20-1012.zip
9121-DL12-M: 9031-20-1071.zip
9121-DL13-T: 9031-20-1012.zip
9121-DL16-M: 9031-20-1087.zip
9121-DL4-M: 9031-20-1012.zip
9121-DL8-M: 9031-20-1037.zip

CPY1: 9031-20-1100.zip

QC URCAP

Material Removal (MR) URCAP (v1.0.6)

Force/Torque (F/T) URCAP (v2.7.8)

Tool Changer (QC) CRX Plugin

Common Installation Issues

If you get a message saying “Setup cannot continue because some system files are out of date on your system.” and asking you to update the files, click OK. The new version files will not hurt your system.

Installation Assistance

If you get a message saying “Setup cannot continue because some system files are out of date on your system.” and asking you to update the files, click OK. The new version files will not hurt your system. If you continue to get this message after clicking OK, one of the following procedures should fix the problem.  

This error occurs when system files that are required by Visual Basic applications cannot be copied. All the base files that an application created with Visual Basic needs to run with can be found at Microsoft Support Service Article 192461.  If you run the .exe file that is available on that page, your run-time files should be updated.  You may wish to attempt this before examining the log file created by our ISA F/T software package.

If you wish to manually install the file(s) which failed to copy correctly, look for a file called ‘st6unst.log’.  There may be several copies of this file on your machine, since any application package created using the software we use to create our application packages will create a file named ‘st6unst.log’.  Most probably, the log file created by the ATI package will be the most recently modified file.  This log file will tell you what files were copied correctly and which ones failed.

If you cannot find a file named ‘st6unst.log’, look for the file ‘setup.lst’ which is included with our software package.  All the files which can cause the “System files are out of date” error are listed in the “Bootstrap” section of this file.  These are the same files that are available at Microsoft article 192461.

The following solutions are taken from  Microsoft Product Support Services Article Q191096, and are ©2003 Microsoft Corporation.   If none of these work, and you are using Windows 95, see the bottom of the page.

1. Copy the TEMP and TMP environment variables to a folder that is in the same drive partition as the Windows system files. To do this, open a command prompt window and type the following at the prompt: 

Set TMP=C:\TEMP

Set TEMP=C:\TEMP

This will save the TEMP and TMP environment variables to a folder named “Temp” that resides on the C: drive.

NOTE: The folder must exist prior to carrying out these steps. 

Once these environment variables are set, the application should then install and continue past the message on reboot.

2.  If your Autoexec.bat file contains the following line (or similar): 

If exists c:\temp\*.tmp del c:\temp\*.tmp

comment it out by placing “REM” in front of it.

3. Disable any Anti-virus software (or other memory resident programs) and try running Setup again. Often the best way to accomplish this is to run setup in Safe Mode. It may also be necessary to copy all of the setup files to a temporary folder on the hard drive disk and run Setup.exe from there.

4. Leftover files from a failed Setup attempt can also cause this problem. If found, delete the msftqws.pdw subfolder and its contents from the Temp folder. Also look in the Windows or Winnt folder for Setup1.exe and any *.CAB files from previous installs, and delete them. This should be done after each failed install.

5. Some logon scripts can cause this problem, so try to run Setup before logging on to the network.

6.  The system files that may need to be updated are listed in the Bootstrap or Bootstrap Files section of the Setup.lst file created with your package. These files can also be installed separately from self-extracting files found on Microsoft’s support web site. Please see the References section for information about obtaining these files.

7. You can also edit the Setup.lst file. Look in the Setup1 Files or Files section for files to be copied to either $(WinSysPath) or $(WinSysPathSysFile). For example, Msvcrt.dll and Mfc42.dll. You can copy these lines to the end of the Bootstrap or Bootstrap Files section. You must renumber these lines so that the File numbers are sequential, for example “File1=…”, File2=…” and so on. If these lines are removed from their original section, the remaining lines must be renumbered to maintain a sequential list.

If none of the above work, and you are using Windows 95, the file MFC42.dll may not be copying correctly.  You can find MFC42.dll in one of the .cab files you downloaded with the setup package (the .cab files will open with WinZIP or a compatible archive tool). Extract the MFC42.dll file and restart your computer in MS-DOS mode.  Copy the new MFC42.dll file you just extracted over the current copy in your Windows\System directory, and restart your computer in Windows mode.

The only other message that should occur during setup is a message informing you that your current version of a file is more recent than the installation program’s version. In this case, always keep your more recent version.

Windows 95 and 98 Users  

ATI cannot guarantee that our software will run on Windows 95 or Windows 98 systems. We may be able to offer advice and provide some troubleshooting steps for Windows 95 or Windows 98, but these are by no means guaranteed to resolve any problems you may have using our software on Windows 95 or Windows 98.

ATI Supports 4 different methods of getting F/T data from your DAQ sensor system:

• A .NET assembly which reads the voltages and performs the matrix calculations for you.
• An ActiveX component which only performs the matrix multiplications – you have to write the routines to read the voltages.
• A C library which only performs the matrix multiplications – you have to write the routines to read the voltages.
• Manual calculations – you have to read the voltages and perform the matrix multiplications.

Note 1:   As long as you can read voltages from the DAQ product you purchase, you can calculate the F/T values from those voltages, even if you have to perform the calculations manually.  It is your responsibility to find out if the DAQ devices we sell are compatible with the environment your software will be developed and deployed in.

Note 2:   National Instrument’s M-Series cards work fine with the legacy ActiveX component as well as the .NET component.  M-series cards don’t work with all the same hardware drivers that the E-series cards work with (see Note 3), but the matrix calculation is still the same because the voltages are the same regardless of the hardware or hardware driver used to read them, and since the ActiveX component is hardware independent (you read the voltages and pass them to the ActiveX component), it doesn’t know or care whether the voltages came from an M-series, E-series, or other type of device.

Note 3:   M-series cards require the “NI-DAQmx” driver software from National Instruments.  All E-series devices were originally designed to work with an older version of driver software, which is now called “Traditional NI-DAQ”.  No M-series devices work with Traditional NI-DAQ, but most E-series devices that ATI sells do work under NI-DAQmx, and National Instruments is adding support for even more E-series devices to NI-DAQmx.

Note 4:   ATI has no plans to discontinue support for the ATIDAQFT ActiveX software in favor of the ATICombinedDAQFT .NET assembly, so if you are more comfortable using ActiveX than .NET, or do not yet have the software necessary to use .NET assemblies, there is no need to worry about learning a new interface or buying expensive new software.

  ATI provides three software interfaces to the DAQ F/T product line, and also supports manual F/T calculations.  Below are descriptions of these four methods, and pointers on when they can be used.  It should be noted that there are significant overlapped areas where more than one software interface is usable, i.e. using Visual Studio.NET in Windows with an M-series device, one could choose any of these four methods.  In these cases, you can choose whatever interface you are most familiar or comfortable with:

ATICombinedDAQFT

A .NET assembly, which is a reusable code component.  ATICombinedDAQFT provides a ‘unified’ interface, which allows the user to read the voltages and calculate the F/T values in a single step, rather than writing their own routines to read the voltages, then passing those values to a separate math library, such as the ActiveX component or C library.

What customers can use ATICombinedDAQFT?  

Any customer who:  

1. uses a programming environment that supports .NET assemblies, and
2. has a device which is compatible with NI-DAQmx.  Most of the devices ATI sells, with the exception of the DAQPAD-6020E at the time of this writing, are compatible.

ATIDAQFT

An ActiveX DLL, which is an older type of reusable code component.  ATIDAQFT requires the user to read the voltages from their DAQ device, then pass those voltages to ATIDAQFT in order to calculate the F/T values.  If the customer’s environment also supports .NET assemblies and their DAQ device is supported by NI-DAQmx, the ATICombinedDAQFT interface may be easier for them to use, although ATIDAQFT will work fine if they are more comfortable working with ActiveX.  For customers who don’t have NI-DAQmx devices, the ATIDAQFT component provides a hardware-independent math library they can use with any device.

What customers can use ATIDAQFT?

Any customer who:

1. Uses a programming environment that supports ActiveX, and
2. Is capable of writing their own routines to read voltages from the DAQ card, then passing those voltages to the ActiveX component.

C Library

A set of routines written in the ‘C’ programming language, which is nearly universally supported on multiple operating systems.  The C library is recommended for applications written on non-Windows operating systems, such as Linux, although it can also be used on Windows.

What customers can use the C Library?

Any customer who:

1. uses a programming environment that can use C code, and
2. is capable of writing their own routines to read voltages from the DAQ card, then passing those voltages to the C functions.

Manual Calculations

The procedure to calculate the F/T values is a simple matrix multiplication.  This is very useful for embedded applications, as the customer does not have to waste space on functions they will never use.

What customers can perform manual calculations?

Any customer who:

1. A. can write their own routines to read voltages from their DAQ device, and
2. B. is capable of writing routines to do basic matrix multiplication.

ATICombinedDAQFT Class Library and Windows Demo

The ATICombinedDAQFT .NET class library reads calibration files, controls your NI-DAQmx-compatible DAQ device, and calculates the force and torque values for your transducer.  This class library can be reused in any programming environment that supports .NET class libraries, such as Microsoft Visual Studio .NET, LabVIEW version 7 and greater, etc.  The programming API is documented in the help file included with the installation package.   

The demo program is an excellent place to test your new ATI sensor system and do basic data collection.  The demo includes support for both ‘one-shot’ and continuous data logging.  The main screen displays a live bar graph of the current force and torque readings from your sensor.  The demo also includes complete options to configure your F/T system, such as output units and tool transformations, which allow you to measure the forces and torques acting at a point other than the surface of the transducer.

This package installs the ATICombinedDAQFT class library, demo program, and the associated help files. .NET Framework 4.8 is required. NI-DAQmx 9.5.1 or greater from National Instruments is required. The latest version of NI-DAQmx is available for free from www.ni.com, but registration is required

ATIDAQFT.NET.MSI (Demo version 2.1, .NET Framework 4.8)

ATICombinedDAQFT Class Library and Windows Demo Source Code

Note: The Managed C++ code used in the ATICombinedDAQFT library uses deprecated syntax for declaring managed objects, and no longer compiles in in Visual Studio versions from Visual Studio 2019 and greater.

The source code for the Windows demo and Class Library is provided free of charge.  The source code is a great starting point for writing your own application.  If you have a DAQ device which is not supported under NI-DAQmx, you can modify the class library to work with your particular DAQ device. NI-DAQmx from National Instruments is required. It is also recommended that you install the demo binaries from the above section before you try to compile the source code, so that all dependencies will be installed.

DAQSOURCE.ZIP (Demo version 2.1, .NET Framework 4.8)

LabVIEW Library

The LabVIEW Library will allow you to load a calibration, read F/T from a DAQ transducer, and apply a tool transformation to the output. The VI “atidaqftmx” is used to read from a single transducer, and the vi “Multiple Transducers” is used to work with multiple transducers, possibly on multiple DAQ devices. NI-DAQmx from National Instruments is required, including support for LabVIEW. If the demo does not run because it cannot find VIs relating to NI-DAQ, you may have to re-run the NI-DAQmx installation, choose a custom install, and make sure that support for LabVIEW is selected.

ATIDAQFT-MX.LLB

Click here for the LabVIEW 9 version of the library. ATIDAQFT-MX-LV9.LLB

ATIDAQ C Library

This code library uses standard C to read calibration files, configure the transducer system, and convert voltages from your data acquisition system into forces and torques. This library does not control your DAQ device, you must write the software routines to read the voltages. The C library is the recommended method for developing non-Windows-based applications.

ATIDAQ C Library.zip  (1.0.7)

DAQ Drivers for non-Windows Operating Systems

Linux drivers for a variety of DAQ cards can be found at  www.comedi.org.  National Instruments also provides a driver development kit which can be used on many platforms.  The National Instruments DDK can be found  here.  For M-series devices, National instruments provides their own Linux driver, available  here.

DAQ F/T Manual Calculations

This Microsoft Excel spreadsheet demonstrates performing F/T conversion calculations manually for advanced applications. This sheet will allow you to load a calibration file, view force and torque calculations including temperature compensation, and input tool transformations.

DAQ FT Manual Calculations.zip (1.0.4)

Visual C++ NI-DAQmx Sample Application

This sample contains the source code for a Visual C++ 2015 project which uses NI-DAQmx to read voltages from your National Instruments DAQ device and uses the ATIDAQFT ActiveX component (installed with either the NI-DAQmx demo or the Traditional NI-DAQ demo) to calculate the F/T values.

NI-DAQmx-VC2015.zip  (version 1.1.0)

The following downloads use “Traditional NI-DAQ” from National Instruments to read the voltages from your data acquisition card. If you are using an M-series device, you cannot use these programs without modification. Several older E-series NI-DAQ devices are supported by both Traditional NI-DAQ and the newer NI-DAQmx drivers. If you are doing new development, and your DAQ device is supported by NI-DAQmx, it is recommended that you use the NI-DAQmx software available above.

ATIDAQFT ActiveX Automation Server and Windows Demo

The ATIDAQFT Windows ActiveX component reads calibration files, configures the transducer system, and converts raw voltages from any data acquisition system into forces and torques. ATIDAQFT can be used in development platforms that support ActiveX or Automation containment, including Microsoft Visual Basic 6.0, Microsoft Visual C++, Microsoft .NET Platform, National Instruments (NI) LabVIEW, and many others. Its programming API is documented in the ATIDAQFT help files, which are included in the installation.

The ATI DAQ F/T Windows Demo is a good place to try out your transducer system in Windows. This executable program uses Traditional NI-DAQ and ATIDAQFT to give a real-time display of F/T data from supported NI boards. It provides complete options for configuration of the F/T system. Use of the demo requires “Traditional NI-DAQ” from National Instruments, although the ActiveX component itself is hardware-independent, and can be reused in your application even if you do not have a National Instruments DAQ device installed.

This package installs the ATIDAQFT ActiveX Automation Server, Windows Demo, and help files.

ATIDAQFT.msi  (Install Pack: 1.2.4; contains ATIDAQFT Component: 1.2.4, Windows Demo: 1.2.4)

Source for Windows Demo Application

This Microsoft Visual Basic 6.0 project contains the source code for the ATI DAQ F/T Windows Demo.  It is necessary to install the demo, ActiveX component and “Traditional NI-DAQ” from National Instruments before you can use this source code.

ATIDAQFT Windows Demo VB6.zip  (1.2.4)

LabVIEW Library

This LabVIEW VI library uses the Analog Input VIs provided by NI-DAQ and the ATIDAQFT Automation Server. A sample LabVIEW application provides a real-time display of F/T data. The ATIDAQFT component (1.0.0 or later) and “Traditional NI-DAQ” from National Instruments are required to run the sample application, though the library can easily be modified for other brands of DAQ devices.  LabVIEW 7.0 or later is required.  

ATIDAQFT LabVIEW Library.zip  (1.2.0)

Visual C++ Sample Application

This sample contains the source code for a Visual C++ program which uses the ATIDAQFT component and “Traditional NI-DAQ” software to calculate forces and torques. You may have to change the path to the NI-DAQ header files and add the files nidaq32.lib and nidex32.lib to the project. ATIDAQFT and “Traditional NI-DAQ” from National Instruments are required.

ATIDAQFT Visual C Sample.zip  (1.1.0)

FT Conversion with ATIDAQFT

This Microsoft Excel 97 spreadsheet demonstrates performing F/T conversion calculations using the ATIDAQFT component and Visual Basic for Applications.

FT Conversion with ATIDAQFT.zip (1.0.0)

The Stand-Alone ActiveX component allows you to easily communicate with the stand-alone controller from Windows.  You can collect data at high speed using the StartStreaming, ReadStreaming, and StopStreaming methods.  You can download a calibration matrix using the DownloadMatrix method.  For more information see the help file ATIFTSA.hlp after installing the software.  

1. For Windows NT, 2000, XP, Vista or Windows 7 you must be logged on as the administrator.
2. Download the zip file sasetup.zip, which contains the setup files.
   Click here to download the ZIP file
3. Extract the file sasetup.zip you just downloaded to a directory on your computer.
4. Install the software using the steps below:
   1. Use the Windows “Add/Remove Programs” function in the Control Panel to remove any existing ATI Stand-Alone software.
   1. Run the program “setup.exe” that you extracted in step 3. If the program asks if it should replace any files whose name begins with “ATI”, answer yes.
   1. In Windows 2000/NT/XP, you have to restart before using the software

NOTE:  When you first start the program, it may tell you that calibration information could not be found and ask if you have the calibration (dat) file for the transducer.  If you have the calibration file, select “Yes” and specify the location of the file.  If you do not have the file, the program will ask you to manually enter information about your transducer.  You can get all the information from the manual that came with your transducer.  The only thing that may not be clear in the manual is the “Distance Units” field.  The distance units are always the distance component of your torque units.  So if your torque units are “lb-in”, your distance units will be “in”.

You may need to download a calibration matrix to the controller if the controller’s memory was corrupted or you buy a new sensor.  Follow these instructions to download the matrix.

1. Download and install the software as described in the previous section. 
2. Execute “ATIFTSADemo.exe” (The demo program included with the software).
3. If your memory was corrupted, the program should automatically prompt you to specify a calibration (dat) file automatically.  If it does, proceed to step 6, otherwise continue to step 4.
4. Pull down the “File” menu.
5. Select the “Load Calibration” menu item.
6. Select the calibration (dat) file that contains the calibration matrix for your sensor and press “Open”
7. The calibration download will take about three minutes.

NOTE:  If your sensor appears to be giving inaccurate results after downloading the matrix, you can verify that the calibration was downloaded correctly by selecting the “Options” menu and selecting the “Settings” item.  Another window will appear with a button labeled “Verify Calibration.”  Click this button and select the calibration file you downloaded from.  The program will test the calibration file against the controller’s memory and inform you if anything was improperly stored.  If the verification fails, attempt to download the matrix again.

The demo program included in this software allows you to collect streaming data to a file.  You can collect data for a specified number of seconds, you can collect a specified number of records, or you can collect data indefinitely until you tell the program to stop.

1. Execute the demo program.
2. Pull down the “Options” menu.
3. Select “Collect Data”.
4. On the window that appears, select your collection method (number of records, number of seconds, or indefinite), the type of data you wish to collect (gage or f/t counts), and any threshold conditions that must be met before data collection begins.
5. Select the file that you wish to store the data to.
6. Hit the “Start” button to start collecting data.
7. No matter which collection method you chose in step 4, you can stop data collection at any time by pressing the “Stop Collecting Data” button.