Manual, F/T Sensor, EtherCAT Axia
Document #9610-05-EtherCAT Axia-09
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5.2.1.2 Object 0x2020: Tool Transformation
This Object allows the settings for the function tool transformation to be viewed or changed. After
entering the changes, commit to the changes by entering “123” into the “Commit” field at the
bottom of the Object. To turn off this feature, set the three displacements and rotations to zero. This
Object contains the following fields:
Table 5.2— Object Index (hex) 0x2020: Tool Transformation
Subindex
Name
Type
Description
0x01
Dx
STRING(12)
Enter each
element as a
floating-point
number in
text form
.
Displacement along the X axis in units of ttDistUnits.
0x02
Dy
Displacement along the Y axis in units of ttDistUnits.
0x03
Dz
Displacement along the Z axis in units of ttDistUnits.
0x04
Rx
Rotation about the X axis in units of ttAngUnits.
0x05
Ry
Rotation about the Y axis in units of ttAngUnits.
0x06
Rz
Rotation about the Z axis in units of ttAngUnits.
0x07
ttDistUnits
UINT8
Distance units:
0 = inches
1 = feet
2 = mm
3 = cm
4 = m
0x08
ttAngUnits
UINT8
Rotation units:
0 = degrees
1 = radians
0x09
Commit
UINT8
Write “123” here to set the changes.
5.2.1.3 Object 0x2021: Calibration
This read-only Object contains information about the currently active calibration selected by the
“Calibration Selection” field in
Section 5.2.1.11—Object 0x7010: Control Codes
. This Object
contains the following fields:
Table 5.3— Object Index (hex) 0x2021: Calibration
Subindex
Name
Type
Description
0x01
FT Serial
STRING(8)
The F/T Serial Number,
e.g. “FT01234”.
1
0x02
Calibration Part
Number
STRING(30)
The calibration part number
e.g. “SI-500-20”.
2
0x03
Calibration Family
STRING(8)
Always reads “ECAT”.
0x04
Calibration Time
STRING(30)
The date the sensor was
calibrated.
0x05 through
0x2e
Reserved
DINT
Reserved
Notes:
1.
This field identifies an individual sensor. A sensor may have more than one FTxxxxx calibration
serial number; each F/T calibration serial number identifies a separate calibration. No two
sensors share an F/T calibration serial number.
2.
This field identifies the calibration size. A sensor model may have more than one calibration size/
part number.
