ATI Technologies 9105-NETOEM Instruction manual

Engineered Products for Robotic Productivity
Pinnacle Park
•
1031 Goodworth Drive
•
Apex, NC 27539
•
Tel: 919.772.0115
•
Fax: 919.772.8259
•
www.ati-ia.com
•
Email: info@ati-ia.com
9105-NETOEM and 9105-NETAOEM
Net F/T OEM
Technical Data, Installation, and Operation Manual
Document #: 9610-05-1027

Manual, FT Sensor, Net F/T OEM
Document: 9610-05-1027-05
Pinnacle Park
•
1031 Goodworth Drive
•
Apex, NC 27539 USA
•
Tel: +1.919.772.0115
•
Fax: +1.919.772.8259
•
www.ati-ia.com
•
Email: info@ati-ia.com
2
Foreword
Information contained in this document is the property of ATI Industrial Automation, Inc. and shall not be reproduced in
whole or in part without prior written approval of ATI Industrial Automation, Inc. The information herein is subject to change
without notice and should not be construed as a commitment of ATI Industrial Automation, Inc. This manual is periodically
revised to reflect and incorporate changes made to the F/T system.
ATI Industrial Automation, Inc. assumes no responsibility for any errors or omissions in this document.
Copyright © (2019) by ATI Industrial Automation, Inc., Apex, North Carolina USA. All Rights Reserved. Published in the
USA.
In consideration that ATI Industrial Automation, Inc. (ATI) products are intended for use with robotic and/or automated
machines, ATI does not recommend the use of its products for applications wherein failure or malfunction of an ATI
component or system threatens life or makes injury probable. Anyone who uses or 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 indirect threat of injury or death, and (even if such consent is given) shall indemnify ATI
from any claim, loss, liability, and related expenses arising from any injury or death resulting from use of ATI components.
All trademarks belong to their respective owners.
Windows™ is a registered trademark of Microsoft Corporation.
Note
Please read the manual before calling customer service. Before calling, have the
following information available:
1. Serial number (e.g., FT01234)
2. Transducer model (e.g., Nano17, Gamma, Theta, etc.)
3. Calibration (e.g., US-15-50, SI-65-6, etc.)
4. Accurate and complete description of the question or problem
5. Computer and software information. Operating system, PC type, drivers,
application software, and other relevant information about your configuration.
If possible, be near the F/T system when calling.

Manual, FT Sensor, Net F/T OEM
Document: 9610-05-1027-05
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Apex, NC 27539 USA
•
Tel: +1.919.772.0115
•
Fax: +1.919.772.8259
•
www.ati-ia.com
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Email: info@ati-ia.com
3
How to Reach Us
Sales, Service and Information about ATI products:
ATI Industrial Automation
1031 Goodworth Drive
Apex, NC 27539 USA
www.ati-ia.com
Tel: +1.919.772.0115
Fax: +1.919.772.8259
E-mail: info@ati-ia.com
Technical support and questions:
Application Support
Tel: +1.919.772.0115, Option 2, Option 2
Fax: +1.919.772.8259
E-mail: ft_support@ati-ia.com

Manual, FT Sensor, Net F/T OEM
Document: 9610-05-1027-05
Pinnacle Park
•
1031 Goodworth Drive
•
Apex, NC 27539 USA
•
Tel: +1.919.772.0115
•
Fax: +1.919.772.8259
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4
Table of Contents
Foreword.......................................................................................................................................2
How to Reach Us..........................................................................................................................3
Table of Contents .........................................................................................................................4
Glossary........................................................................................................................................5
Definitions.....................................................................................................................................5
1. Safety....................................................................................................................................6
1.1 General...........................................................................................................................................6
1.2 Explanation of Warnings.................................................................................................................6
1.3 Precautions.....................................................................................................................................6
2. System Overview .................................................................................................................7
2.1 NETOEM.........................................................................................................................................7
2.2 NETAOEM......................................................................................................................................7
3. System Components Description.......................................................................................8
3.1 9010-05-1106 Net Digital Board.....................................................................................................8
3.2 9010-05-1107 Net Analog Board....................................................................................................9
4. Connectors.........................................................................................................................11
4.1 Net Digital Board connections ......................................................................................................11
4.1.1 P600 Transducer Strain Gage Connector......................................................................11
4.1.2 P602 Ethernet Connector...............................................................................................11
4.1.3 P603 CAN and DC Power Supply Input Connector .......................................................12
4.1.4 P604 Transducer Serial Interface Connector.................................................................12
4.1.5P605 Threshold Relay Connector ..................................................................................12
4.2 Net Analog Board connections.....................................................................................................13
4.2.1 P1 Serial Interface and Power Connector......................................................................13
5. Optional Wire Harnesses...................................................................................................14
5.1 9700-0500005-04 NETAOEM Transducer Strain Gage Wire Harness........................................14
5.2 9000-05-1050 M12-4 Type D Ethernet Wire Harness..................................................................14
5.3 9000-05-1051 M12 Power/CAN Wire Harness.............................................................................15
5.4 9000-05-1052 NETOEM Transducer Wire Harness.....................................................................16
5.5 9000-05-1053 Threshold Relay Wire Harness.............................................................................17
6. Specifications.....................................................................................................................18
6.1 Storage and Operating Conditions ...............................................................................................18
6.1.1 Temperature ...................................................................................................................18
6.2 Electrical Specifications................................................................................................................18
6.2.1 Power Supply..................................................................................................................18
6.2.2 Threshold Relay..............................................................................................................18
6.3 Weights and Dimensions..............................................................................................................18
7. Drawings.............................................................................................................................19
7.1 9230-05-1372 Net Digital and Analog Board Drawing .................................................................19
8. Terms and Conditions of Sale...........................................................................................20

Manual, FT Sensor, Net F/T OEM
Document: 9610-05-1027-05
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1031 Goodworth Drive
•
Apex, NC 27539 USA
•
Tel: +1.919.772.0115
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Fax: +1.919.772.8259
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5
Glossary
Terms Definitions
DHCP Dynamic Host Configuration Protocol (DHCP) is an automatic method for
Ethernet equipment to obtain an IP address. The Net F/T system can obtain
its IP address using DHCP on networks that support this protocol.
Ethernet Network
Switch Ethernet network switches are electronic devices that connect multiple
Ethernet cables to an Ethernet network while directing the flow of traffic.
F/T Force/Torque.
IP Address
An IP Address (Internet Protocol Address) is an electronic address assigned
to an Ethernet device so that it may send and receive Ethernet data. IP
addresses may be either manually selected by the user or automatically
assigned by the DHCP protocol.
MAC Address MAC Addresses (Media Access Control Addresses) are the unique
addresses given to every Ethernet device when it is manufactured, to be
used as an electronic Ethernet serial number.
UDP UDP (User Datagram Protocol) is a low-level method of transmitting data
over Ethernet. While UDP is faster than TCP, unlike TCP lost UDP data is
not resent.
Net Box The component that contains the power supply and network interfaces of the
Net F/T system.
PCB Printed Circuit Board
RDT Raw Data Transfer (RDT) is a fast and simple Net F/T protocol for control
and data transfer via UDP.
Sensor System The assembly consisting of all components from the transducer to the Net
Box.

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Document: 9610-05-1027-05
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1. Safety
1.1 General
The customer should verify that the transducer selected is rated for maximum loads and
moments expected during operation. Refer to F/T Transducer Manual (9620-05-Transducer
Section—Installation and Operation Manual) found in Net F/T Installation and Operation
Manual (9610-05-1022) or contact ATI Industrial Automation for assistance. Particular
attention should be paid to dynamic loads caused by robot acceleration and deceleration.
These forces can be many times the value of static forces in high acceleration or deceleration
situations.
1.2 Explanation of Warnings
The warnings included here are specific to the product(s) covered by this manual. It is
expected that the uses heed all warnings from the robot manufacturer and/or the manufacturers
of other components used in the installation.
Danger indicates that a situation could result in potentially serious injury or damage to
equipment.
Caution indicates that a situation could result in damage to the product and/or the
other system components.
1.3 Precautions
!
DANGER: Do not attempt to disassemble the transducer. This will damage the
instrumentation.
DANGER: Do not probe any openings in the transducer. This will damage the
instrumentation.
DANGER: Take care to prevent excessive forces or moments from being applied
to the transducer during handling or installation. The small Nano series is easily
overloaded during rough handling and may be damaged.

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•
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•
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•
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•
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7
2. System Overview
The NETOEM and NETAOEM are PCB-only versions of the NETB and NETBA Force/Torque
sensor interface systems and do not include an enclosure. They provide the same functionality as
their enclosed counterparts at a much lower weight and with smaller dimensions to be integrated in
the customer’s own housing. Please refer to the Net F/T manual for a description of the available
functions: http://www.ati-ia.com/app_content/documents/9610-05-1022.pdf
2.1 NETOEM
The NETOEM is to be used in conjunction with a 9105-NET transducer, which has an integrated
analog-to-digital interface. The NETOEM is recommended for all NET-GAMMA, NET-DELTA, NET-
THETA and NET-OMEGA transducers.
Analog-to-
Digital
Interface
Serial Interface
9105-NET Transducer with
integrated electronics
and Power
Ethernet
NETOEM
P602 P603
CAN, DCIN
Net Digital Board
P604
.
Figure 2-1—NETOEM System
2.2 NETAOEM
The NETAOEM includes the analog-to-digital interface and allows the direct interface to
9105-TW transducers which do not have integrated electronics. The NETAOEM is
recommended for all TW-NANO and TW-MINI transducers but can also be used with TW-
GAMMA, TW-DELTA, TW-THETA and TW-OMEGA transducers.
Analog-to-
Digital
Interface
Analog Signals
9105-TW Transducer
P602 P603
CAN, DCIN
Ethernet
Net Digital Board
NETAOEM
P600
.
Figure 2-2—NETAOEM System

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Document: 9610-05-1027-05
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3. System Components Description
The NETOEM and NETAOEM consist of one or two PCBs and several optional wire harnesses.
3.1 9010-05-1106 Net Digital Board
The Net Digital Board communicates with the Net Analog Board (see section 3.2 “9010-05-
1107 Net Analog Board”) via a high-speed serial interface on P604. The received data are
digitized strain data that get transformed into force and torque values on the Net Digital Board.
The Net Digital Board provides the force and torque data over an Ethernet and a CAN
interface.
Figure 3-1—Net Digital Board (Top View)
Figure 3-2—Net Digital Board (Bottom View)

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Document: 9610-05-1027-05
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Tel: +1.919.772.0115
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3.2 9010-05-1107 Net Analog Board
The Net Analog Board interfaces with the transducer’s strain gages via connector P2. The
strain gage signals get digitized with 16-bit A/D converters. The digitized data are then sent
over a high speed RS485 interface to the Net Digital Board via connector P1. 12VDC power
from the Net Digital Board is supplied via P1.
The Net Analog Board is part of the NETAOEM and is connected to the Net Digital Boards
connector P601. In NETOEM systems the Net Analog Board is located in the 9105-NET
transducer.
P1
Serial Interface and Power
Connector
Figure 3-3—Net Analog Board – top view

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Document: 9610-05-1027-05
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•
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Tel: +1.919.772.0115
•
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4. Connectors
All user connectors are from Molex’s Pico Blade family of connectors. Depending on the contact
insert used, these connectors can accept wire sizes from 26 AWG (0.41 mm) to 32 AWG (0.20 mm).
4.1 Net Digital Board connections
4.1.1 P600 Transducer Strain Gage Connector
Mating connector housing: Molex 51021-1400
Mating connector contact: Molex 50058-8000 (28 – 32 AWG)
Molex 50079-8100 (26 – 28 AWG)
Pin
No.
Signal Name Description
1
+VSG
Positive strain gage bridge supply
voltage
2
-VSG
Negative strain gage bridge supply
voltage
3
G0
Strain gage 0 signal
4
G1
Strain gage 1 signal
5
G2
Strain gage 2 signal
6
G3
Strain gage 3 signal
7
G4
Strain gage 4 signal
8
G5
Strain gage 5 signal
10
---
Do not connect
11
---
Do not connect
12
---
Do not connect
13
---
Do not connect
14
---
Do not connect
4.1.2 P602 Ethernet Connector
Mating connector housing: Molex 51021-0400
Mating connector contact: Molex 50058-8000 (28 – 32 AWG)
Molex 50079-8100 (26 – 28 AWG)
Pin
No.
Signal Name Description
1
TX+
Transmit data +
2
TX-
Transmit data -
3
RX+
Receive data +
4
RX-
Receive data -

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4.1.3 P603 CAN and DC Power Supply Input Connector
Mating connector housing: Molex 51021-0500
Mating connector contact: Molex 50058-8000 (28 – 32 AWG)
Molex 50079-8100 (26 – 28 AWG)
Pin
No.
Signal Name Description
1
DCIN-
DC-supply - input (0VDC)
2
CAN_L
CAN signal -
3
DRAIN
Shield for CAN signal cable
4
CAN_H
CAN signal +
5
DCIN+
DC-supply + input (+11VDC to +24VDC
4.1.4 P604 Transducer Serial Interface Connector
Mating connector housing: Molex 51021-0500
Mating connector contact: Molex 50058-8000 (28 – 32 AWG)
Molex 50079-8100 (26 – 28 AWG)
Pin
No.
Signal Name Description
1
POWER_GND
DC Supply 0VDC output
2
RS485-
Serial Interface -
3
---
reserved
4
RS485+
Serial Interface +
5
DCIN+
DC Supply + output ; 12VDC
4.1.5 P605 Threshold Relay Connector
Mating connector housing: Molex 51021-0600
Mating connector contact: Molex 50058-8000 (28 – 32 AWG)
Molex 50079-8100 (26 – 28 AWG)
Pin
No.
Signal Name
Description
1
COM_P
Common relay contact, protected1
2
NC_P
Normally closed relay contact, protected1
3
COM
Common relay contact
4
NC
Normally closed relay contact
5
NO_P
Normally open relay contact, protected1
6
NO
Normally open relay contact
1Protected means that a resettable fuse is in series to the relay contact and provides protection against over-current. See
section 6.2.2 for more details.

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4.2 Net Analog Board connections
4.2.1 P1 Serial Interface and Power Connector
Mating connector housing: Molex 51021-0800
Mating connector contact: Molex 50058-8000 (28 – 32 AWG)
Molex 50079-8100 (26 – 28 AWG)
Pin
No.
Signal Name Description
1
POWER_GND
Positive strain gage bridge supply
voltage
2
RS485-
Serial Interface -
3
DRAIN
Shield for sensor signal cable
4
RS485+
Serial Interface +
5
DCIN+
DC Supply + output ; 12VDC
6
---
Do not connect
7
---
Do not connect
8
---
Do not connect

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5. Optional Wire Harnesses
5.1 9700-0500005-04 NETAOEM Transducer Strain Gage Wire Harness
The NETAOEM Transducer Strain Gage wire harness is only used with the NETAOEM,
where it provides a connector interface between P600 of the Net Digital Board and a 9105-TW
transducer. The 9105-TW transducer connector is a front-mount panel type and may be used
on panels up to 0.197” (5mm) thick. The connector is keyed to the panel and is secured by a
hex nut (included). The connector is not suitable for use in wet environments and has a rating
of IP40.
Details and mechanical specifications may be obtained from Amphenol-Tuchel Electronics
GmbH at http://www.amphenol.de/connector/T-3638-009/497.html
Cable length: about 4” (100 mm)
Figure 5-1—NETAOEM Transducer Strain Gage Wire Harness
5.2 9000-05-1050 M12-4 Type D Ethernet Wire Harness
The M12-4 Type D Ethernet wire harness provides a connector interface between P602 of the
Net Digital Board and an Ethernet cable with M12 connector.
Details and mechanical specifications for the M12-4 Type D Ethernet connector may be
obtained from the manufacturer Turck under the part number FKFDDV-44
( http://www.turck-
usa.com/Search/Documentation_Search_Results.asp?ViewID=Illustrations&Page=1&SearchI
n=0&SortBy=&SortDesc=&Pattern=FKFDDV-44+ )
Cable length: about 1.25” (31 mm)

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Figure 5-2— M12-4 Type D Ethernet wire harness
5.3 9000-05-1051 M12 Power/CAN Wire Harness
The M12 Power/CAN wire harness provides a connector interface between P603 of the Net
Digital Board and a DeviceNet cable with M12 connector.
Details and mechanical specifications for the M12 connector may be obtained from the
manufacturer Turck under the part number FSFDLV 57/S3039 -44
(ttp://www.turck-
usa.com/Search/Documentation_Search_Results.asp?ViewID=Illustrations&Page=1&SearchI
n=0&SortBy=&SortDesc=&Pattern=FSFDLV+57%2FS3039+)
Cable length: about 1.75” (44 mm)
Figure 5-3— M12 Power/CAN wire harness

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5.4 9000-05-1052 NETOEM Transducer Wire Harness
The NETOEM Transducer wire harness is only used with the NETOEM where it provides a
connector interface between P604 of the Net Digital Board and a 9105-C-MTR or 9105-C-
MTS transducer cable with M12 connector. The ring terminal provides a connection to the
cable shield and should be connected to the NETOEM enclosure’s chassis ground for best
EMC performance.
Details and mechanical specifications for the M12 connector may be obtained from the
manufacturer Turck under the part number FKFDLV 57 / U3-10512
(http://www.turck-
usa.com/Search/Documentation_Search_Results.asp?ViewID=Illustrations&Page=1&SearchI
n=0&SortBy=&SortDesc=&Pattern=FKFDLV+57+)
The ring terminal is designed for 0.164” stud size and has an outer diameter of 0.33”.
Cable length to Molex connector: about 3.5” (88 mm)
Cable length to ring terminal: about 2.5” (63 mm)
Figure 5-4— M12 NETOEM Transducer wire harness

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5.5 9000-05-1053 Threshold Relay Wire Harness
The Threshold Relay wire harness provides a connector interface between P605 of the Net
Digital Board and a cable with 3-pin Pico connector.
Details and mechanical specifications for the 3-pin Pico connector may be obtained from the
manufacturer Turck under the part number MFSS 3-0.2 / U7800
(http://www.turck-
usa.com/Search/Documentation_Search_Results.asp?ViewID=Illustrations&Page=1&SearchI
n=0&SortBy=&SortDesc=&Pattern=MFSS+3-0.2)
Cable length: about 1.25” (31 mm)
Figure 5-5— Threshold Relay Pico-to-Molex wire harness

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6. Specifications
6.1 Storage and Operating Conditions
6.1.1 Temperature
Storage Temperature, °C Operating Temperature, °C
NETOEM -40 to +100 -20 to +80
NETAOEM -40 to +100 -20 to +80
6.2 Electrical Specifications
6.2.1 Power Supply
Power Source†
Minimum
Voltage
Maximum
Voltage
Maximum Power
Consumption
Power over Ethernet‡
through P602 36V 57V 6W
DCIN through P603 11V 25V 6W
†Power is drawn from only one power source at a time.
‡Conforms to IEEE 802.3af, class 0, receiving power from data lines.
6.2.2 Threshold Relay
The threshold relay contacts (NC_P, NO_P and COM_P on P605) are protected
against overload by a resettable fuse. The maximum guaranteed fuse hold current is
50mA.
The unprotected relay contacts NC, NO and COM are specified for a max. current of
1A at 30VDC.
Relay Contact Information
Rated load 0.3A at 125VAC, 1A at 30VDC
Max. operating current 1A
Max. operating voltage 125VAC, 60VDC
Max. switching capacity 37.5VA, 30W
Min. permissible load 10uA at 10mVDC
6.3 Weights and Dimensions
Component Weight (approx.) Dimensions
9010-05-1106 Net Digital
Board 55g (1.94oz) See drawing in Section 7.1
9010-05-1107 Net Analog
Board 14g (0.49oz) See drawing in Section 7.1

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20
8. Terms and Conditions of Sale
The following Terms and Conditions are a supplement to and include a portion of ATI’s Standard
Terms and Conditions, which are on file at ATI and available upon request.
ATI warrants to Purchaser that force torque sensor products purchased hereunder will be free from
defects in material and workmanship under normal use for a period of one year from the date of
shipment. This warranty does not cover components subject to wear and tear under normal usage or
those requiring periodic replacement. ATI will have no liability under this warranty unless: (a) ATI
is given written notice of the claimed defect and a description thereof with thirty (30) days after
Purchaser discovers the defect and in any event, not later than the last day of the warranty period and
(b) the defective item is received by ATI not later than (10) days after the last day of the warranty
period. ATI’s entire liability and Purchaser’s sole remedy under this warranty is limited to repair or
replacement, at ATI’s election, of the defective part or item or, at ATI’s election, refund of the price
paid for the item. The foregoing warranty does not apply to any defect or failure resulting from
improper installation, operation, maintenance, or repair by anyone other than ATI.
ATI will in no event be liable for incidental, consequential, or special damages of any kind, even if
TI has been advised of the possibility of such damages. ATI’s aggregate liability will in no event
exceed the amount paid by the purchaser for the item which is the subject of claim or dispute. ATI
will have no liability of any kind for failure of any equipment or other items not supplied by ATI.
No action against ATI, regardless of form, arising out of or in any way connected with products or
services supplied hereunder, may be brought more than one year 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 as having been
authorized by ATI, unless in writing and signed by an executive officer of ATI.
Unless otherwise agreed in writing by ATI, all designs, drawings, data, inventions, software, and
other technology made or developed by ATI in the course of providing products and services
hereunder, and all rights therein under any patent, copyright, or other law protecting intellectual
property, shall be and remain ATI’s property. The sale of products or services hereunder does not
convey any expressed or implied license under any patent, copyright, or other intellectual property
right owned or controlled by ATI, whether relating to the products sold or any other matter, except
for the license expressly granted below.
In the course of supplying products and services hereunder, ATI may provide or disclose to
Purchaser confidential and proprietary information of ATI relating to the design, operation, or other
aspects of ATI’s products. As between ATI and Purchaser, ownership of such information, including
without limitation any computer software provided to Purchaser by ATI, shall remain in ATI and
such information is licensed to Purchaser only for Purchaser’s use in operating the products supplied
by ATI hereunder in Purchaser’s internal business operations.
Without ATI’s prior written permission, Purchaser will not use such information for any other
purpose of provide or otherwise make such information available to any third party. Purchaser
agrees to take all reasonable precautions to prevent any unauthorized use or disclosure of such
information.
Purchaser will not be liable hereunder with respect to disclosure or use of information which: (a) is
in the public domain when received from ATI, (b) is thereafter published or otherwise enters the
public domain through no fault of Purchaser, (c) is in Purchaser’s possession prior to receipt from
ATI, (d) is lawfully obtained by Purchaser from a third party entitled to disclose it, or (f) is required
to be disclosed by judicial order or other governmental authority, provided that, with respect to such
to maintain the confidentiality of such information.
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