Manual, F/T Sensor, Ethernet Axia
Document #9620-05-C-Ethernet Axia-02
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Table 9.4
—config.cgi Variables
Variable Name
Allowed
Values
Description
cfgtfx0
Floating point
Sets the tool transformation distance D
x
with the units that are specified
in the variable: cfgtdu.
cfgtfx1
Sets the tool transformation distance D
y
with the units that are specified
in the variable: cfgtdu.
cfgtfx2
Sets the tool transformation distance D
z
with the units that are specified
in the variable: cfgtdu.
cfgtfx3
Sets the tool transformation distance R
x
with the units that are specified
in the variable: cfgtau.
cfgtfx4
Sets the tool transformation rotation R
y
with the units that are specified
in the variable: cfgtau.
cfgtfx5
Sets the tool transformation rotation R
z
with the units that are specified
in the variable: cfgtau.
9.4.1
Example of Tool Transformation Functionality Through CGI
For a more detailed explanation on the concept of tool transformation, refer to the applicable
. For an example of how to send configuration variables through CGI, refer to
the following example:
A user wants to set the point of reference:
D
x
= -97.3 mm D
y
= 46.1 mm D
z
= 201.82 mm
R
x
= +90° rotation R
y
= +180° rotation R
z
= 0° rotation
•
Open a web browser and enter a URL request:
http://192.168.1.1/config.cgi?cfgtdu=3&cfgtau=1&cfgtfx0=-97.3&cftgt
fx1=46.1&cfgtfx2=201.82& cfgtfx3=90&cfgtfx4=180&cfgtfx5=0
This request tells the sensor at IP address 192.168.1.1 to set CGI variables
cfgtdu
to 3,
cfgtau
to 1,
cfgtfx0
to -97.3,
cfgtfx1
to 46.1,
cfgtfx2
to 201.82,
cfgtfx3
to 90,
cfgtfx4
to 180, and
cfgtfx5
to 0.
If a user goes to the
Configuration
page on the ATI website (
Section 6.6—F/T Configurations Page
), the values in the
Tool Transformation
fields match these values that a user entered
in the console.
