Robotiq FT-150/300 Sensor
Instruction Manual
Robotiq inc. © 2016
44
Baudrate (bps)
19200
Data bits
8
Stop bit
1
Parity
none
Slave ID
9
In Modbus RTU you can obtain the following information:
Information
Register
Production year
514
Serial number
510 to 513
Force X (N) = value / 100
180
Force Y (N) = value / 100
181
Force Z (N) = value / 100
182
Moment X (Nm) = value / 1000
183
Moment Y(Nm) = value / 1000
184
Moment Z (Nm) = value / 1000
185
Acceleration X (g) = value / 1000
190
Acceleration Y (g) = value / 1000
191
Acceleration Z (g) = value / 1000
192
Data Stream:
Data stream mode is the recommended method of obtaining data from the Sensor. Once initiated, the Sensor will
stream force and moment data continuously until communication is interrupted by the user.
Tip
To
, write 0x0200 in register 410.
start the data stream
To stop the data stream, communication must be interrupted by sending a series of 0xff characters to the Sensor.
Sending for about 0.5s (50 times) will ensure that the Sensor stops the stream.
When the stream is started, 16 bytes messages are sent by the sensor at 100Hz using this format:
<0x20><0x4e><LSB_data1><MSB_data1> ... <LSB_data6><MSB_data6><LSB_crc><MSB_crc>
With dataX being a 16-bits signed integer defined as:
Data
Value meaning
data1
Fx * 100 (N)
data2
Fy * 100 (N)
