Manual, F/T Sensor, Ethernet Axia
Document #9610-05-Ethernet Axia-09
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4.8 Status Code
The following table is a bitmap from bit number 0 to 31 for the current condition of the sensor. For help
reading this table with hexadecimal codes, refer to
Section 4.8.2—How to Interpret Hexadecimal Output for
.
Table 4.7—Status Code
Bit
Number
Description
Indicates
an Error?
0
Internal Temperature Out of Range: This bit is active (high) if the temperature
is outside the range -5 to 70°C.
Yes
1
Supply Voltage Out of Range: This bit is active (high) if the input voltage is
outside the range of 12 V to 32 V.
Yes
2
Broken Gage: This bit is active (high) whenever the gage reads positive full
scale. It self resets 32 sample periods after the condition clears.
Yes
3
Busy Bit. The sensor is performing (1) or more of the following activities that
may temporarily affect the F/T data:
•
Committing a change to NVM.
•
Changing the filter time constant.
•
Changing the calibration in use.
•
Changing the ADC sampling rate.
•
Any ADC ISR overrun.
No
4
Reserved.
Yes
5
Common error bit.
Yes
6 to 15
Reserved.
Yes
16
Monitor Condition (0-15) Latched.
No
17 to 26
Reserved.
Yes
27
Gage Out of Range: The bit is set whenever a gage sample is outside of the
range gageMinRange to gageMaxRange. This bit stays high for 32 samples
after the last such sample so that time abates for the sample’s effect on the
data.
Yes
28
Simulated Error. This bit is used to test user error handling.
No
29
Calibration checksum error: This bit is set if the active calibration has an
invalid checksum.
Yes
30
Force/Torque Out of Range: This bit is active whenever the force/torque
sample is out of range or saturated. This bit stays high for 32 samples after the
last such sample so that time abates for the sample’s effect on the data.
Yes
31
Error: This bit is set whenever any status code bit that indicates an error is set.
Yes
4.8.1 Status Code: Sensing Range Exceeded
is set when a F/T load is outside the sensor’s detection capability. Bit 30 is set
when either of the following conditions are TRUE:
•
The total percentage of the calibrated range used by F
xy
and T
z
axes is greater than 105%. Refer
to the following F
xy
T
z
equation.