FT 300-SForce Torque Sensor - Instruction Manual
34
Bits
Description
0006
Number of registers requested (6)
04A6
Cycle Redundancy Check (CRC)
4.4.2. 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 start the data stream, write 0x0200 in register 410.
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)
data3
Fz * 100 (N)
data4
Mx * 1000 (Nm)
data5
My * 1000 (Nm)
data6
Mz * 1000 (Nm)
The CRC is computed using a standard 16-bits modbus CRC (see
http:/ / www.ccontrolsys.com/ w/ How_to_Compute_the_
).
Preset Multiple Registers (FC16)
Function code 16 (FC16) is used to activate functionalities of the Gripper (robot output). A common example is the initialization of
data streaming.
Example of setting multiple registers (FC16):
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