Manual, FT Sensor, Ethernet Axia
Document #9610-05-Ethernet Axia-05
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45
All RDT requests use the following RDT request structure:
{
Uint16 command_header = 0x1234;
// Required
Uint16 command;
// Command to execute
Uint32 sample_count;
// Samples to output (0 = infinite)
}
Set the command field of the RDT request to the command from
. Set sample_count to the number
of samples to output. If you set sample_count to zero, the Ethernet Axia will output continuously until you
send an RDT request with command set to zero.
RDT records sent in request to an RDT request have this structure:
{
Uint32 rdt_sequence; // RDT sequence number of this packet.
Uint32 ft_sequence; // The record’s internal sequence number
Uint32 status;
// System status code
// Force and torque readings use counts values
Int32 Fx;
// X-axis force
Int32 Fy;
// Y-axis force
Int32 Fz;
// Z-axis force
Int32 Tx;
// X-axis torque
Int32 Ty;
// Y-axis torque
Int32 Tz;
// Z-axis torque
}
rdt_sequence:
The position of the RDT record within a single output stream. The RDT sequence
number is useful for determining if any records were lost in transit. For example, in
a request for 1000 records, rdt_sequence will start at 1 and run to 1000. The RDT
sequence counter will roll over to zero for the increment following 4294967295
(2
32
-1).
ft_sequence:
The internal sample number of the F/T record contained in this RDT record.
The F/T sequence number starts at 0 when the Ethernet Axia is powered up and
increments at the internal sample rate (7000 per sec). Unlike the RDT sequence
number, ft_sequence does not reset to zero when an RDT request is received. The
F/T sequence counter will roll over to zero for the increment following 4294967295
(2
32
-1)
status:
Contains the system status code at the time of the record.
Fx, Fy, Fz, Tx, Ty, Tz: The F/T data as counts values.
If using buffered mode, then the number of RDT records received in a UDP packet will be equal to the RDT
buffer size displayed on the Communications page. See
Section 5.6—Communication Page (comm.htm)
for
a description of RDT Buffer Size.