FT 300-SForce Torque Sensor - Instruction Manual
33
Information
Register
Acceleration Y (g) = value / 1000
191
Acceleration Z (g) = value / 1000
192
Read Holding Register (FC03)
Function code 03 (FC03) is used to read the status of the Sensor (robot input). Examples of such data is the display of the current
force and torque values.
Example of FC03 Read Function:
To get Fx, you need to read (03) the register 180 (00B4) in device ID 9 (09).
Request is: 09 03 00 B4 00 01 C5 64
Hex format: 0x09 0x03 0x00 0xB4 0x00 0x01 0xC5 0x64
Bits
Description
09
SlaveID
03
Function Code 03 (Read Holding Register)
00B4
Address of the first requested register
0001
Number of registers requested (1)
C564
Cycle Redundancy Check (CRC)
To get all 6 force/ torque values at once, you need to read (03) six registers (0006), starting with register 180 (00B4) in device ID 9
(09).
Request is: 09 03 00 B4 00 06 04 A6
Hex format: 0x09 0x03 0x00 0xB4 0x00 0x06 0x84 0xA6
Bits
Description
09
SlaveID
03
Function Code 03 (Read Holding Register)
00B4
Address of the first requested register
