Manual, F/T Sensor, Ethernet Axia
Document #9620-05-C-Ethernet Axia-02
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel:+1 919.772.0115 • Fax:+1 919.772.8259 •
C-82
12.1.1 RDT Request For Records Structure
All RDT requests have the following 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 a command from
.
•
Set sample_count to the number of samples to output. If sample_count is set to zero, the
Ethernet Axia outputs continuously until a user sends a RDT request with command set to zero.
12.1.2 RDT Records Sent Structure
In response to the request, the sensor sends RDT records with the following 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.
