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-76
10.4 Read Calibration Info Command
{
uint8 command;
/* Must be READCALINFO (1). */
uint8 reserved[19];
/* Should be all 0s. */
}
10.5 Read Calibration Info Response
{
uint16 header;
/* always 0x1234. */
uint8 forceUnits;
/* Force Units. */
uint8 torqueUnits;
/* Torque Units. */
uint32 countsPerForce;
/* Calibration Counts per force unit. */
uint32 countsPerTorque;
/* Calibration Counts per torque unit. */
uint16 scaleFactors[6];
/* Further scaling for 16-bit counts. */
}
The status code is the upper 16 bits of the 32-bit status code.
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 , or viewed from the sensor’s
Configuration
Section 6.6—F/T Configurations Page
). These values are dependent on the sensor’s model and calibration size. It is best practice to
read them off the sensor, not hard code them into the user software.
The force unit codes are:
1: Pound
2: Newton
3: Kilopound
4: Kilonewton
5: Kilogram
6: Gram
The torque unit codes are:
1: Pound-inch
2: Pound-foot
3: Newton-meter
4: Newton-millimeter
5: Kilogram-centimeter
6: Kilonewton-meter
