Manual, F/T Sensor, Ethernet Axia
Document #9610-05-Ethernet Axia-09
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10. TCP Interface
TCP interface allows a more advanced user to write their own software to interact with the sensor. This software
could be written with a programming language such as
. For a command-line demo of C#, refer to the
ATI NET F/T software download webpage:
https://www.ati-ia.com/Products/ft/software/net_ft_software.aspx
.
The TCP interface listens on TCP port 49151. All commands are 20 bytes in length. All responses begin with the
two byte header 0x12, 0x34.
10.1 Command Codes
READFT
=
0,
/* Read F/T values. */
READCALINFO
=
1,
/* Read calibration info. */
WRITETRANSFORM
=
2,
/* Write tool transformation. */
WRITETHRESHOLD
=
3,
/* Write monitor condition. */
10.2 Read F/T Command
{
uint8
command;
/* Must be READFT (0) . */
uint8
reserved[15]; /* Should be all 0s. */
uint16
MCEnable;
/* Bitmap of MCs to enable. */
uint16
sysCommands; /* Bitmap of system commands. */
}
Each bit position 0-15 in MCEnable corresponds to the monitor condition at that index. If the bit is a ‘1’,
that monitor condition is enabled. If the bit is a ‘0’, that monitor condition is disabled.
Bit 0 of sysCommands controls the Bias. If bit 0 is a ‘1’, the system is biased. If bit 0 is a ‘0’, no
action is taken.
Bit 1 of sysCommands controls the monitor condition latch. If bit 1 is a ‘1’, the monitor condition latch is
cleared, and monitor condition evaluation begins again. If bit 1 is a ‘0’, no action is taken.
10.3 Read F/T Response
{
uint16 header;
/* always 0x1234. */
uint16 status;
/* Upper 16 bits of status code. */
int16 ForceX;
/* 16-bit Force X counts. */
int16 ForceY;
/* 16-bit Force Y counts. */
int16 ForceZ;
/* 16-bit Force Z counts. */
int16 TorqueX;
/* 16-bit Torque X counts. */
int16 TorqueY;
/* 16-bit Torque Y counts. */
int16 TorqueZ;
/* 16-bit Torque Z counts. */
}
The status code is the upper 16 bits of the 32-bit status code described in the Net F/T user manual.
The force and torque values in the response are equal to (actual ft value * calibration counts per unit
/ 16-bit scaling factor). The counts per unit and scaling factor are read using the read calibration
information command.